Lin, Shi-MouShi-MouLinCHAO-CHIEH LAN2025-11-272025-11-272026978303205465422110984https://www.scopus.com/record/display.uri?eid=2-s2.0-105020021578&origin=resultslisthttps://scholars.lib.ntu.edu.tw/handle/123456789/734196The development of hip exoskeleton robots has gained significant attention due to their potential in rehabilitation, assistance, and performance augmentation. However, achieving a balance between torque output and lightweight design remains a challenge. This paper presents a lightweight hip exoskeleton robot and its structural analysis. 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 structural strength. 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 actuatorHip exoskeleton robotpassive jointtorque-to-mass ratiobook part10.1007/978-3-032-05466-1_112-s2.0-105020021578