- Article
Optimization of Exoskeleton Assistance Function Based on Physics-Guided Dynamic Fusion Model
- Haochen Tian,
- Jiaxin Wang and
- Lei Liu
- + 2 authors
Wearable lower-limb exoskeletons can enhance mobility, reduce metabolic cost, and aid rehabilitation. Effective human-exo cooperation requires personalized assistance profiles that match biomechanical principles. Existing methods often rely on fixed curves, involve complex tuning, and lack biomechanical interpretability. To address this, we propose a “Physics-guided perception and physiology-driven optimization” approach. First, a Physics-guided Dynamic Fusion Model (PDFM) is proposed, which integrates Newton–Euler dynamics, LSTM, and NTM to estimate multi-plane hip joint moments without ground reaction forces, employing biomechanical models as complementary fusion factors rather than the embedded hard constraints used in conventional physics-informed neural networks (PINNs). The model achieved correlation coefficients of 0.938, 0.924, and 0.929, and relative root mean square error (rRMSE) values of 5.29%, 9.79%, and 5.61%, in the sagittal, coronal, and transverse planes, respectively. These results outperformed all single-network baselines across all three anatomical planes. Second, an assistance profile derived from estimated moments is individually optimized using Bayesian optimization based on multi-muscle sEMG. Compared to no-exo walking, the optimized system reduced target muscle loading by 49.31% and metabolic cost by 14.75%; relative to the pre-optimized profile, the reductions were 23.64% and 5.74%, respectively. This work provides a laboratory-validated framework for personalized hip exoskeleton assistance in healthy adults, establishing a foundation for future clinical translation.
1 May 2026


![Soft hip flexion assist exoskeleton (based on the platform described in [22]). (a) Schematic diagram of the assistance principle, illustrating the actuator-driven tensile force transmitted via the assistance strap to the knee brace, producing a sagittal-plane hip flexion moment (blue arc) that mimics the rectus femoris (RF). The locations of the IMU and load cell are indicated. (b) Front and back views of the donned exoskeleton, showing the waist-mounted actuator, assistance strap, knee brace with integrated load cell, dorsal control unit, and battery-integrated waist belt.](https://mdpi-res.com/cdn-cgi/image/width=470%2Cheight=317/https://mdpi-res.com/bioengineering/bioengineering-13-00531/article_deploy/html/images/bioengineering-13-00531-g001-550.jpg)




