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Assistance Torque Estimation via Dynamics-Aware Optimization for Lower-Limb Exoskeleton in Complex Environments

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Ground-truth human joint torque estimation relies on motion capture systems, which suffer from limited outdoor usability and significant deployment expenses. Furthermore, direct scaling of ground-truth joint torques to obtain motor torque commands is not necessarily the optimal strategy. To address the aforementioned limitations, inspired by the human motion generation process, this paper proposes a novel assistance torque estimation method based on the dynamic model. From an optimization perspective, the proposed method directly generates motor-assist torque and lowers the cost of data acquis

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