Lin, Shi-MouShi-MouLinPai, Tzy-QianTzy-QianPaiLin, Ding-HaoDing-HaoLinCHAO-CHIEH LAN2025-11-252025-11-252025979833153342721596247https://www.scopus.com/record/display.uri?eid=2-s2.0-105018744207&origin=resultslisthttps://scholars.lib.ntu.edu.tw/handle/123456789/734117The development of hip exoskeleton robots has gained significant attention due to their potential in rehabilitation, assistance, and performance augmentation. However, achieving a balance between efficiency, power consumption, and lightweight design remains a challenge. This paper presents a lightweight hip exoskeleton robot and its efficiency evaluation. The exoskeleton integrates a quasi-direct actuator with an optimized structure and passive joints to enhance comfort and walking stability while maintaining a compact and low-mass structure. This paper evaluates the robot's performance in terms of torque output and power consumption. Furthermore, a comparative analysis with existing hip exoskeletons highlights the advantages of the proposed design in terms of torque-to-mass ratios. This paper is expected to contribute to the optimization of lightweight wearable robots.falsedirect-drive actuatorgait phaseHip exoskeleton robotpassive jointpower efficiencytorque-to-mass ratioconference paper10.1109/AIM64088.2025.111757792-s2.0-105018744207