摘要：With the continuous escalation of modern war,soldiers need to transport more combat materials to the combat *** limited load-bearing capacity of soldiers seriously restricts their carrying capacity and *** is urgent to develop a power-assisted exoskeleton robot suitable for individual *** the past,most power-assisted exoskeleton robots were driven by *** driving method has an excellent power-assisted effect,but the endurance is often *** view of this shortcoming,this study designed an ankle exoskeleton robot based on an active-passive combined drive through simulation analysis of human *** used OpenSim software to simulate and verify that the addition of spring could achieve a good *** the same time,according to the gait characteristics of the human body,the gait planning of an exoskeleton robot was carried ***,theoretical analysis explained that the cooperation among spring,motor and wearer could be realized in this ***,the assisting ability and driving coordination of the active-passive combination driven ankle exoskeleton robot were verified through experiments.