{"doi":"10.36227/techrxiv.24487378.v1","title":"A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower-Limb Exoskeletons","abstract":"Various backdrivable exoskeletons have demonstrated the mechanical capabilities necessary 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 to assist any activity of daily life in a provably stable manner. This paper presents the modular, multi-task optimal energy shaping (M-TOES) framework based on a convex, data-driven optimization that concurrently considers multiple activities to design a versatile and adaptable exoskeleton controller for any lower-limb joint configuration. Besides modularity and convexity, M-TOES improves upon our prior energy-shaping method by enabling torque goal adjustments, distributed processing across two devices, and integration of stance-to-swing transitions into the stability analysis. We evaluated controllers for four joint configurations (unilateral/bilateral, hip/knee) on eight able-bodied users navigating a multi-activity course, including sit-stand, level walking, ramps, and stair ascent/descent. The two unilateral conditions significantly lowered overall muscle activation across all tasks and subjects (p<0.001). In contrast, bilateral configurations had a minimal impact, possibly attributable to device weight and physical constraints.","journal":"Figshare","year":2023,"id":401542,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":1,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9521,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2023-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":894134,"name":"Gray C. Thomas","orcid":"0000-0003-4466-3466","position":1,"is_corresponding":false},{"id":644793,"name":"Nikhil Divekar","orcid":"0000-0002-8683-4828","position":2,"is_corresponding":false},{"id":645597,"name":"Vamsi Peddinti","orcid":null,"position":3,"is_corresponding":false},{"id":253899,"name":"Robert D. Gregg","orcid":"0000-0002-0729-2857","position":4,"is_corresponding":false},{"id":894133,"name":"Jianping Lin","orcid":"0000-0001-7384-4325","position":0,"is_corresponding":true}],"reference_count":62,"raw_metadata":null,"created_at":"2026-07-19T01:20:12.316631Z","pmid":null,"pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}