Soft　wearable　lower　limb　power-assisted　robots　have　broad　application　prospects　in　the　fields　of　rehabilitation,　the　elderly　and　the　disabled,　daily　livings　and　other　aspects　of　life,　with　the　advantages　of　light　weight,　small　volume,　strong　wearable　feature,　and　human-machine　compatibility.　In　order　to　promote　the　research　and　development　of　the　soft　wearable　robots　in　China　and　summarize　the　research　progress　in　those　fields　at　home　and　abroad,　the　components,　driving　principle　and　kinematic　information　of　various　power　assisted　systems　are　discussed　and　the　transfer　law　of　the　assistance　force/moment　and　their　power-assisted　effect　are　analyzed.　Moreover,　key　techniques　such　as　the　safety　and　reliability,　gait　detection,　driving　methods　and　control　strategies,　and　power-assisted　evaluation　are　analyzed　in　detail.　On　the　basis　of　the　above　analysis,　the　future　development,　methods　and　challenges　are　presented,　which　has　certain　guidances　for　the　related　research　works.　Copyright　©　2020　Acta　Automatica　Sinica.　All　rights　reserved.