The development of hip exoskeleton robots has gained significant attention due to their potential in rehabilitation, assistance, and performance augmentation. However, achieving a balance between torque output and lightweight design remains a challenge. This paper presents a lightweight hip exoskeleton robot and its structural analysis. The exoskeleton integrates a quasi-direct actuator with an optimized structure and passive joints to enhance comfort and walking stability while maintaining a compact and low-mass structure. This paper evaluates the robot’s performance in terms of torque output and structural strength. Furthermore, a comparative analysis with existing hip exoskeletons highlights the advantages of the proposed design in terms of torque-to-mass ratios. This paper is expected to contribute to the optimization of lightweight wearable robots.