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High-performance actuators are crucial to enable mechanical versatility oflower-limb wearable robots, which are required to be lightweight, highlybackdrivable, and with high bandwidth. State-of-the-art actuators, e.g., serieselastic actuators (SEAs), have to compromise bandwidth to improve compliance(i.e., backdrivability). In this paper, we describe the design and human-robotinteraction modeling of a portable hip exoskeleton based on our customquasi-direct drive (QDD) actuation (i.e., a high torque density motor with lowratio gear). We also present a model-based performance benchmark comparison ofrepresentative actuators in terms of torque capability, control bandwidth,backdrivability, and force tracking accuracy. This paper aims to corroboratethe underlying philosophy of "design for control", namely meticulous robotdesign can simplify control algorithms while ensuring high performance.Following this idea, we create a lightweight bilateral hip exoskeleton (overallmass is 3.4 kg) to reduce joint loadings during normal activities, includingwalking and squatting. Experimental results indicate that the exoskeleton isable to produce high nominal torque (17.5 Nm), high backdrivability (0.4 Nmbackdrive torque), high bandwidth (62.4 Hz), and high control accuracy (1.09 Nmroot mean square tracking error, i.e., 5.4% of the desired peak torque). Itscontroller is versatile to assist walking at different speeds (0.8-1.4 m/s) andsquatting at 2 s cadence. This work demonstrates significant improvement inbackdrivability and control bandwidth compared with state-of-the-artexoskeletons powered by the conventional actuation or SEA.

Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton with High Backdrivability and High Bandwidth