Author

Ji-Min An

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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. · 0 citations

Preprint Sep 2026

Effects of Assistance Delay on Joint Mechanics and Energetics in Biological Torque Control of a Hip Exoskeleton

The findings indicate that biological torque mappings should be evaluated based on the target outcome and mechanical role of the assisted joint, and that predominantly positive-power assistance may not generalize to negative-work-dominant locomotion without modification.

Ji-Min An, Ryan Lee, Jing-Shu Peng et al. · 0 citations