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arXiv:2608. 00715v1 Announce Type: cross Abstract: Learning-based controllers can deliver exoskeleton assistance after training entirely in physics-based simulation, yet few controllers that address human-device co-adaptation have been validated on real users by whole-body metabolic measurement, the standard benchmark for assistive walking.
UniExo is a framework that builds a single, multi-skill musculoskeletal human policy by distilling four imitation experts—walking, turning, running, and backward walking—into one network guided by a skill latent. The human policy is fine‑tuned with reinforcement learning on transition sequences, achieving a 94.7% tracking success rate on unseen clips and greater robustness to perturbations. A hip exoskeleton controller is then co‑adapted with this human policy via multi‑agent reinforcement learning, enabling it to assist across four treadmill speeds and a continuous route of all four skills without explicit mode switching.
The paper evaluates six onboarding strategies for federated wearable models on five datasets using a leakage‑controlled protocol that fixes source checkpoints and separates calibration from evaluation. Results show that while average accuracy is high, person‑level performance can drop significantly, with some methods causing negative transfer for certain users. The study highlights that mean accuracy alone is insufficient and provides an auditable benchmark and failure map for future development.
arXiv:2609.28427v1 Announce Type: new Abstract: Personalizing exoskeleton assistance across operating conditions is constrained by the time and physical effort required to collect user feedback. We e...
arXiv:2606. 05234v1 Announce Type: cross Abstract: Wearable exoskeleton systems hold promise for restoring mobility in individuals with physical impairments, yet most existing controllers rely on static gait policies that lack the ability to adapt to dynamic real-world environments or individual user characteristics.
arXiv:2606. 24960v1 Announce Type: new Abstract: Tailoring stroke rehabilitation requires assessing how movements are organized, not merely if they succeed.