摘要：This paper describes the design and control of a portable and lightweight knee exoskeleton for people with knee *** knee exoskeleton is designed based on our custom quasi-direct drive actuation composed of a DC motor unit and a transmission mechanism encompassing three *** online gait generation method based on gait step calculation and direct measurement using Inertial Measurement Unit(IMU)sensors is proposed to provide continuous assistance during *** on the generated gait trajectory online,Active Disturbance Rejection Control(ADRC)incorporating the feedforward compensation approach is proposed to help the human leg move in consideration of external *** developed knee exoskeleton has been employed successfully to assist impaired users with knee dysfunction to walk in a health recovery *** experimental results indicate that the online gait generation method and the proposed control method are suitable for the knee *** maximum value of the target knee angular position is approximately 50°and the mean of the control torque for the knee joint is located in the interval of[−2 Nm,4 Nm].The developed knee exoskeleton has the potential to regain normal gait to improve strength and endurance during walking in their activities of daily life.