This　paper　evaluated　an　exoskeleton　with　compliant　joints　containing　a　toe　joint.　The　ankle　and　toe　joints　were　driven　by　two　series　elastic　of　actuators　that　can　provide　maximal　push-off　power.　Firstly,　the　Human　walking　experiments　were　conducted　for　exploring　the　effects　of　the　toe　joint　on　providing　power　and　keeping　the　gait　balanced.　Secondly,　based　on　a　theoretical　model　and　computations,　a　compliant　exoskeleton　with　a　toe　joint　was　designed　for　those　whose　ankle　is　not　powerful　enough　for　walking.　Because　of　the　impedance　control,　the　exoskeleton　was　controlled　to　either　follow　or　guide　a　person.　Finally,　an　experiment　with　one　person　whose　ankle　could　not　provide　enough　power　for　supporting　walking　was　conducted,　and　the　results　validated　the　effectiveness　of　the　toe　joint　containing　compliant　actuators　during　walking.　©　2021　IEEE.