General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control

Excerpt

arXiv:2609.39558v1 Announce Type: cross Abstract: Accurate human torque estimation is crucial for enabling task-agnostic control in robotic exoskeleton systems. However, estimation errors may cause mismatches between the robot assistance and the human intention, degrading controllability and task performance. In this paper, we address this issue by formally defining matched assistance as scenarios in which the robot positively contributes to human movement. Based on this definition, we develop a