An ensemble of gait-phase estimators serves as an uncertainty detector that switches an ankle exoskeleton from assisting to unpowered when it encounters out-of-distribution movements.
Neuromechanical model-based adaptive control of bilateral ankle ex- oskeletons: Biological joint torque and electromyogram reduction across walking conditions,
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Uncertainty-Aware Ankle Exoskeleton Control
An ensemble of gait-phase estimators serves as an uncertainty detector that switches an ankle exoskeleton from assisting to unpowered when it encounters out-of-distribution movements.