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Open-Source Knee Exoskeleton: Generating Biological Torque Control with Musculoskeletal Simulation

A research team has released an open-source knee exoskeleton built from off-the-shelf components, whose biological torque controller is generated entirely by simulation, requiring no training data collected on the target device. The method uses a muscle-driven imitation policy to reproduce squatting motions from a public biomechanics dataset, then distills the knee joint torque into an estimator that relies only on onboard sensors.

Part of the event: Open-Source Knee Exoskeleton: Simulation-Generated Biological Torque Control

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