Rajiv V. Joshi

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...