General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control
The study developed a control strategy for an exoskeleton that estimates human torque from muscle signals to provide task-agnostic assistance. By using a dead-zone mechanism, the system guarantees 'matched assistance,' ensuring the robot always assists in the correct direction without causing excessive or reversed torque, leading to smoother movement and reduced user effort across various tasks.