Thrust　of　track　shoes　on　soft　ground　is　affected　by　soil　moisture　content,　shear　rate　and　structure　parameters　of　track　shoes.　A　lack　of　comprehensive　consideration　of　these　factors　exists　for　normal　calculation　methods.　A　method　to　predict　thrust　for　track　shoes　on　soft　ground　with　splayed　grouser　was　established　based　on　experimental　results　and　theoretical　derivations.　Model　track　shoe　traction　experiments　were　conducted　for　verification　and　correction　of　the　thrust　formula.　It　was　observed　that　the　thrust　for　the　track　shoes　decreased　with　the　increase　in　moisture　content　of　the　soil.　Increases　in　shear　rate,　grouser　height,　and　grouser　splayed　angle　resulted　in　greater　tractions.　Effect　of　grouser　thickness　and　grouser　draft　angle　on　tractions　was　not　obvious.　A　corrected　thrust　formula　allowed　accurate　prediction　of　thrust　for　a　single　track　shoe　on　soft　ground.　(C)　2016　ISTVS.　Published　by　Elsevier　Ltd.　All　rights　reserved.