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Various backdrivable lower-limb exoskeletons have demonstrated the electromechanical capability to assist volitional motions of able-bodied users and people with mild to moderate gait disorders, but there does not exist a control framework that can be deployed on any joint(s) to assist any activity of daily life in a provably stable manner. This paper presents the modular, multi-task optimal energy shaping (
Lin et al. (Tue,) studied this question.
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