Ankle Exoskeleton Control

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Overview

Ankle exoskeleton control studies how wearable devices can time and tune assistance to support walking across users, impairments, and activities. Approaches include gait-phase estimation, torque and variable-impedance control, reinforcement learning in musculoskeletal simulations, and human-in-the-loop optimization that personalizes assistance from user responses. Recent work also explores online adaptation, uncertainty-aware disengagement, and stability constraints to handle changing terrain or unfamiliar movements. A key challenge is balancing effective, individualized assistance with safe, reliable performance beyond the walking tasks and users used for tuning, with simulation results still needing broader real-world and clinical validation.

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13 papers0 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

  1. Multi-Objective Human-in-the-Loop Bayesian Optimization of a Lower-Limb Exoskeleton

    Sep 25, 2026Neil Janwani, Matthew T. Lerner, Aaron J. Young +1Human-in-the-Loop AIBayesian Optimization

    Georgia Institute of Technology

  2. Assistance Torque Estimation via Dynamics-Aware Optimization for Lower-Limb Exoskeleton in Complex Environments

    Sep 14, 2026Xiao-Yin Liu, Guotao Li, Weiqun Wang +1Data-Driven ControlAnkle Exoskeleton Control

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China. · The School of Artificial Intelligence, University of Chinese Academy Sciences, Beijing, China.

  3. Personalized Lower-limb Exoskeleton Assistance via Preference-based Bayesian Optimization

    Aug 10, 2026Xiao-Yin Liu, Guotao Li, Weiqun Wang +1Bayesian OptimizationAnkle Exoskeleton Control

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China · CASIA-MUST Joint Laboratory of Intelligence Science and Technology, Institute of Systems Engineering, Macau University of Science and Technology, Macao, China

  4. ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance

    Aug 6, 2026Yu Chen, Gong Chen, Xiang LiAnkle Exoskeleton ControlFeedback Control

    Department of Automation, Tsinghua University, China · Shenzhen MileBot Robotics Co., Ltd, China

  5. A 2-Block Architecture for Real-Time EEG Gait Decoding: A Pilot Study

    Aug 3, 2026Shantanu Sarkar, Saurabh Prasad, Jose L. Contreras-VidalRobotic ControlBrain-Computer Interfaces

    IUCRC BRAIN Center, Cullen College of Engineering, University of Houston, Houston, TX, USA

  6. Deep RL- Tuned Mo del-Free Adaptive Control for Lower-Limb Exoskeletons During Sit-to-Stand Transitions

    Jun 20, 2026Ranjeet Kumbhar, Appaso M. Gadade, Rajmeet Singh +2RL ControlRobot Trajectory Tracking

    Department of Computer Science and Engineering Thapar Institute of Engineering and Technology Patiala, India – 147004 · Department of Mechanical Engineering Thapar Institute of Engineering and Technology Patiala, India – 147004 · Mechatronics Engineer, Research Office Mohamed bin Zayed University of Artificial Intelligence (MBZUAI) Abu Dhabi, UAE

  7. Continual Online Personalization of Exoskeleton Control via Manifold-Aware Experience Replay

    Jun 16, 2026Changseob Song, Inseung KangRobotic ControlAnkle Exoskeleton Control

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA

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

    Jun 4, 2026Muyuan Ma, Houcheng Li, Haotian Zhai +4Robotic ControlImpedance Control

  9. OLIVE: Online Low-Rank Incremental Learning for Efficient Adaptive Exoskeletons

    Jun 3, 2026Dong Liu, Yanxuan Yu, Ben Lengerich +2Robotic ControlLow-Rank Adaptation

    University of California, Los Angeles Los Angeles, California, USA · Columbia University New York, New York, USA · University of Wisconsin-Madison Madison, Wisconsin, USA +1

  10. Musculoskeletal Motion Imitation for Learning Personalized Exoskeleton Control Policy in Impaired Gait

    Apr 10, 2026Itak Choi, Ilseung Park, Eni Halilaj +1Hip Exoskeleton ControlAssistive Robotics

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213 USA.

  11. Learning Therapist Policy from Therapist-Exoskeleton-Patient Interaction

    Mar 2, 2026Grayson Snyder, Lorenzo Vianello, Levi Hargrove +2Assistive RoboticsHuman-Robot Interaction

    Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA. · Legs and Walking Lab, Shirley Ryan AbilityLab, Chicago, IL, USA.

  12. Gait Asymmetry from Unilateral Weakness and Improvement With Ankle Assistance: a Reinforcement Learning based Simulation Study

    Feb 21, 2026Yifei Yuan, Ghaith Androwis, Xianlian ZhouGait AnalysisAnkle Exoskeleton Control

    Department of Biomedical Engineering, New Jersey Institute of Technology, Newark, NJ 07102, USA · Kessler Foundation, West Orange, NJ, 07052, USA

  13. Uncertainty-Aware Ankle Exoskeleton Control

    Aug 28, 2025Fatima Mumtaza Tourk, Bishoy Galoaa, Sanat Shajan +3Uncertainty QuantificationAnkle Exoskeleton Control

    Department of Mechanical Engineering, Northeastern University, Boston, MA 02115 USA