Preprint
Oct 2026
Design and Validation of a Robotic Knee Exoskeleton with Musculoskeletal Simulation-Derived Biological Torque Control
Data-driven controllers have enabled lower-limb robotic exoskeletons to adapt assistance to the user across many tasks. A leading example is biological torque control, which estimates the user's own joint moment from onboard sensors and assists in proportion to that estimate. However, its estimators are trained on data...
Rajiv V. Joshi, Ji-Min An, I. Park et al.
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