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In this paper, variable stiffness ankles are used for collision reduction walking, based on which the Step Length-depended Variable Stiffness Planner (SLVSP) is proposed for lower limb exoskeletons. In the SLVSP, ankle stiffness and step length are optimized to reduce the Collision Loss Of Transport (CLOT). In addition, the mechanical energy-based human intention estimator for continuous walking by the SLVSP is proposed. A dynamics simulation verifies the method\u2019s performance, and the results show that the proposed approach is effective. <\/jats:p>","DOI":"10.1142\/s0219843622500049","type":"journal-article","created":{"date-parts":[[2022,2,28]],"date-time":"2022-02-28T16:50:21Z","timestamp":1646067021000},"source":"Crossref","is-referenced-by-count":0,"title":["Collision Reduction Walking for Lower Limb Exoskeletons"],"prefix":"10.1142","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1778-7260","authenticated-orcid":false,"given":"Long","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Automation and Engineering, University of Electronic Science and Technology of China, Chengdu 611731, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chaobin","family":"Zou","sequence":"additional","affiliation":[{"name":"School of Automation and Engineering, University of Electronic Science and Technology of China, Chengdu 611731, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangkui","family":"Song","sequence":"additional","affiliation":[{"name":"School of Automation and Engineering, University of Electronic Science and Technology of China, Chengdu 611731, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Automation and Engineering, University of Electronic Science and Technology of China, Chengdu 611731, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Automation and Engineering, University of Electronic Science and Technology of China, Chengdu 611731, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Qiu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, P. 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