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Effects of Assistance Delay on Joint Mechanics and Energetics in Biological Torque Control of a Hip Exoskeleton

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Biological torque control directly maps an estimated human joint moment to exoskeleton assistance, providing a task-agnostic strategy for supporting diverse locomotor activities. However, it remains unclear whether a fixed state-to-torque mapping provides effective assistance across biomechanically distinct tasks. We examined how assistance delay affected hip exoskeleton performance during level-ground (LG), ramp-ascent (RA), and ramp-descent (RD) walking. Eight participants completed a zero-torque baseline condition and five active assistance conditions with delays ranging from 40 to 320 ms.

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