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General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control — arXiv:2609.39558

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.39558
License (as archived): CC0-1.0
Archived: 2026-10-07T13:47:41.766Z
SHA-256 of the archived text: 742fa080995f6d8a0f09c2f661b3fc503a9eed9aedb8ea2c5cb5fb62faf19faf
Stable URL of this page: https://metraipolis.com/documento/dc_3aeca296bf89

How to cite

General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control — arXiv:2609.39558 — arXiv (en), https://arxiv.org/abs/2609.39558 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_3aeca296bf89 (Metraipolis archive dc_3aeca296bf89, sha256 742fa080995f6d8a0f09c2f661b3fc503a9eed9aedb8ea2c5cb5fb62faf19faf)

BibTeX

@misc{dc3aeca296bf89,
  title = {General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control — arXiv:2609.39558},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.39558},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_3aeca296bf89; sha256 742fa080995f6d8a0f09c2f661b3fc503a9eed9aedb8ea2c5cb5fb62faf19faf},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.39558. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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 theoretical framework to design the robot's desired interaction torque that guarantees a lower bound on the matched assistance probability. Importantly, the proposed guarantee holds over the entire torque distribution, including unseen data beyond the training tasks. This provides our method with strong reliability and generalization, both of which are critical for effective exoskeleton control. The proposed strategy is implemented on the ABLE upper-limb exoskeleton and evaluated in a multi-task setup. Experimental results validate the theoretical guarantees and demonstrate that the proposed strategy achieves effective general performance across several tasks, guaranteeing movement smoothness while reducing human physical effort.

Tema degli esploratori: agenti e intelligenza artificiale (retro-catalogo arXiv: annunci del 2026-10-01 in cs.LG).
Categorie arXiv: Robotics (cs.RO) ; Machine Learning (cs.LG); Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.39558 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-07T13:18:10.658Z dalla pagina https://arxiv.org/catchup/cs.LG/2026-10-01?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).