 This study examined the role of various muscles in the human body during walking. It found that hip flexors, ankle dorsiflexors, posterior muscles, and ankle plantar flexors played important roles in energy absorption, generation, and transfer during the four phases of walking. Additionally, it revealed that the amount of energy absorbed and generated increased with faster walking speeds. These findings can be used to improve the design of assistive devices such as exoskeletons and prostheses. This article was authored by Zhichihu, Lei Ren, Guo Wuwei, and others.