Design, modeling, control, and evaluation of a wearable Centaur robot for load-carriage walking assistance

Zhixin Tu, Yihao Jiang, Haoyun Yan, Yuquan Leng, Chenglong Fu, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology

The International Journal of Robotics Research

Published online on February 04, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
While both autonomous and wearable robots can assist humans in load-carriage tasks, existing autonomous systems face challenges in real-world autonomy and endurance, whereas current wearable systems have shown limited effectiveness in improving human ...