高齡化時代的來臨，老年人口比率逐年攀升，隨之而來的是對於身體機能退化疾病的重視。所以本文希望可以藉由發展一款可穿戴的下肢輔具來幫助下肢不便的老年人，同時也可用以輔助運動傷害者進行正常活動。此輔具系統中，為建立其可穿戴性，係力用重量/體積小，出力大之氣壓式人工肌肉做為其制動器，實驗中發現，氣壓式人工肌肉在供給氣壓上升與下降的時候會產生遲滯現象，且此現象會造成輔具控制性能的降低。為了消除遲滯現象對控制系統的影響，我們利用鑑別實驗的結果建立輔具/空氣肌肉的遲滯模型，並利用此模型之逆模型做前饋補償。此研發的輔具有支撐腳力矩控制與非支撐腳角度控制兩種模式，故在輔具的整體控制架構中加入平滑切換補償器，藉以改善控制模式切換時對於控制力和輸出狀態的暫態反應。此外論文中也整合輔具與外部的使用介面，讓使用者可以依環境狀況選擇行走或是上下樓梯的模式。最後透過行走、上下樓梯的實驗，比較有無穿戴輔具時大腿股四頭肌的肌電訊號以驗證輔具的輔助成效。

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