Paper

Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework

arXiv:2606.06370v1 Announce Type: new Abstract: Wearable exoskeletons can augment human phys ical capabilities during complex activities. However, ensuring adaptation across diverse tasks while guaranteeing interaction safety remains a critical challenge. To address this, a simulation trained variable impedance control approach with stability guarantees is proposed. First, a simulation-based human exoskeleton motion data generation pipeline is established, utilizing Proximal Policy Optimization (PPO) to synthesize human muscle activations while the exoskeleton provides direct compensation for…

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