To solve this problem, the design and control of a lightweight soft exoskeleton that assists hip-plantar flexion of both legs in different phases during a gait cycle with only one motor is presented in this paper. This means that as there are more joints to be assisted, more motors are required, resulting in increasing robot weight, decreasing motor utilization, and weakening exoskeleton robot assistance efficiency. Generally, each assisted joint corresponds to at least one specific motor to ensure the independence of movement between joints. Exoskeleton robots are frequently applied to augment or assist the user’s natural motion.
