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Design and Validation of a Robotic Knee Exoskeleton with Musculoskeletal Simulation-Derived Biological Torque Control
Rajiv V. Joshi, Jimin An, Ilseung Park +2
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 estima…
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…
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…
Learning Hip Exoskeleton Control Policy via Predictive Neuromusculoskeletal Simulation
Ilseung Park, Changseob Song, Inseung Kang
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalabi…