The wearable power assist leg (WPAL) has been developed with the goal of decreasing human inner force / increasing human strength during walking in daily life for special groups, such as the old and the disabled. This paper summarizes the mechanical design using Ergonomics and analyses the dynamic characteristic of the exoskeleton robot considering the friction impact of the joints. According to the model of human muscle-bone, a control strategy mainly based on the human-robot interaction force between the exoskeleton and human leg is proposed. The WPAL is expected to have significant effect on many applications during activities of daily life. Correlative experiment apparatus and results are also covered at last.

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