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cs.RO2026
A Unified Kinematic Representation Enables Reusable Biological Joint Moment Estimation
Jinwoo Hwang, Ilseung Park, Changseob Song +3
Objective: Data-driven models that estimate physiological states, particularly biological joint moments, are widely used in exoskeleton control. However, these estimators are often…
cs.RO2026
Effects of Assistance Delay on Joint Mechanics and Energetics in Biological Torque Control of a Hip Exoskeleton
Jimin An, Ryan Lee, Jingshu Peng +2
Biological torque control directly maps an estimated human joint moment to exoskeleton assistance, providing a task-agnostic strategy for supporting diverse locomotor activities. H…
cs.RO2026
Musculoskeletal Motion Imitation for Learning Personalized Exoskeleton Control Policy in Impaired Gait
Itak Choi, Ilseung Park, Eni Halilaj +1
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which lim…