待翻译：A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits
AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2608.18364v1 Announce Type: new Abstract: Pneumatic artificial muscles have provided new opportunities to develop upper-extremity soft exosuits for reha- bilitation, augmentation, and assisted daily living. However, the complex dynamics and limited bandwidth of these actuators has made providing responsive assistance based on user intention a longstanding challenge. In this work, we present an inverse-plant control strategy for pneumatically actuated soft exosuits that only relies on kinematic sensing for task-agnostic and dynamic assistance during daily living. We model the human-robot system using a Hammerstein dynamic model, consisting of a Preisach hysteresis model and a linear time-invariant filter, to capture the static and dynamic behavior of the system. We personalize our model to each user using 140 s of data and approximate an inverse to integrate into our control loop. When evaluated on a test rig that emulated a soft assistive exosuit for the wrist, our controller reduced the interaction torque by up to 73% and the activation of key flexor and extensor muscles by up to 47% relative to the condition with no assistance for speeds ranging from 8{\deg}/s to 120{\deg}/s. Overall, this work presents a control strategy that can provide task-agnostic, dynamic assistance with pneumatically actuated soft exosuits without the need for physiological or force sensors to interpret user intention.
AI 服务暂时不可用，以下为来源正文，待恢复后补全翻译。
--> [Submitted on 18 Aug 2026] Title:A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits View a PDF of the paper titled A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits, by Anoush Sepehri and 4 other authors View PDF HTML (experimental) Abstract:Pneumatic artificial muscles have provided new opportunities to develop upper-extremity soft exosuits for reha- bilitation, augmentation, and assisted daily living. However, the complex dynamics and limited bandwidth of these actuators has made providing responsive assistance based on user intention a longstanding challenge. In this work, we present an inverse-plant control strategy for pneumatically actuated soft exosuits that only relies on kinematic sensing for task-agnostic and dynamic assistance during daily living. We model the human-robot system using a Hammerstein dynamic model, consisting of a Preisach hysteresis model and a linear time-invariant filter, to capture the static and dynamic behavior of the system. We personalize our model to each user using 140 s of data and approximate an inverse to integrate into our control loop. When evaluated on a test rig that emulated a soft assistive exosuit for the wrist, our controller reduced the interaction torque by up to 73% and the activation of key flexor and extensor muscles by up to 47% relative to the condition with no assistance for speeds ranging from 8°/s to 120°/s. Overall, this work presents a control strategy that can provide task-agnostic, dynamic assistance with pneumatically actuated soft exosuits without the need for physiological or force sensors to interpret user intention. Subjects: Robotics (cs.RO); Human-Computer Interaction (cs.HC) Cite as: arXiv:2608.18364 [cs.RO] (or arXiv:2608.18364v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.18364 arXiv-issued DOI via DataCite (pending registration) Submission history From: Anoush Sepehri [view email] [v1] Tue, 18 Aug 2026 22:30:55 UTC (4,993 KB) Full-text links: Access Paper: View a PDF of the paper titled A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits, by Anoush Sepehri and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.HC References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)