To improve the lower limb exoskeleton moving effect, an impedance self-adjusted control method by gait classification for support phase is presented, and a comparative analysis between traditional position control method and constant impedance control methods and the impedance self-adjusted control method is experimentally conducted by setting up an indicator system based on radar maps and evaluating the moving effects of different control methods during the support phase. Results show that the impedance self-adjusted control method can meet different sports needs at different stages of the supporting phase, which has optimal overall motion effect compared with the traditional impedance control method.

indicator system  /  exoskeleton  /  support phase  /  control effect