中文摘要：

利用人-机交互信息对可穿戴型下肢助力机器人（WPAL）进行了控制研究。通过对应于人体的三维运动在装置与人体下肢间适当配置测力点，根据各测力点感受到的人体运动时的多维力信息，完成了下肢运动预判。同时，基于接触力信息，提出了假想柔顺控制方法，该方法通过调节各测力点的假想质量、阻尼系数和弹性系数来减小人体感受到的运动强度，达到为人体下肢运动提供助力支持的目的。

英文摘要：

In this paper, a study on control of the wearable power assist leg （WPAL） is conducted using the information of human-robot interaction force. Through a configuring proper force measurement point corresponding to the three-dimensional motion between the WPAL and a user＇ s legs, the user＇ s movement intention of lower limb can be judged in advance based on the information of multi-dimensional force from the measurement point. Then, this paper proposes a strategy of pseudo-compliance control based on the human-robot interaction force between the assist walking exoskeleton and a user＇s legs, and with it, the coefficients of mass, damp and spring can be adjusted to reduce the felt walking intensity to provide power for users＇ legs.