From Vision to Assistance: Gaze and Vision-Enabled Adaptive Control for a Back-Support Exoskeleton
Department of Innovative Technologies (DTI), Dalle Molle Institute for Artificial Intelligence (IDSIA), University of Applied Sciences and Arts of Southern Switzerland (SUPSI)（创新技术系（DTI）、人工智能研究所（IDSIA）、瑞士应用科学与艺术大学（SUPSI））；Department of Informatics, Systems and Communication (DISCo), University of Milano-Bicocca（信息、系统与通信系（DISCo）、米兰-比科卡大学）；Department of Mechanical Engineering, Politecnico di Milano（机械工程系、米兰理工学院）
Alessandro Leanza, Paolo Franceschi, Blerina Spahiu, Loris Roveda
Back-support exoskeletons have been proposed to mitigate spinal loading in industrial handling, yet their effectiveness critically depends on timely and context-aware assistance. Most existing approaches rely either on load-estimation techniques (e.g., EMG, IMU) or on vision systems that do not directly inform control. In this work, we present a vision-gated control framework for an active lumbar occupational exoskeleton that leverages egocentric vision with wearable gaze tracking. The proposed system integrates real-time grasp detection from a first-person YOLO-based perception system, a finite-state machine (FSM) for task progression, and a variable admittance controller to adapt torque delivery to both posture and object state. A user study with 15 participants performing stooping load lifting trials under three conditions (no exoskeleton, exoskeleton without vision, exoskeleton with vision) shows that vision-gated assistance significantly reduces perceived physical demand and improves fluency, trust, and comfort. Quantitative analysis reveals earlier and stronger assistance when vision is enabled, while questionnaire results confirm user preference for the vision-gated mode. These findings highlight the potential of egocentric vision to enhance the responsiveness, ergonomics, safety, and acceptance of back-support exoskeletons.
A Multi-Layer Sim-to-Real Framework for Gaze-Driven Assistive Neck Exoskeletons
Kahlert School of Computing, University of Utah（犹他大学计算机学院）；Dept. of Mechanical Engineering, University of Utah（犹他大学机械工程系）；Robotics Center, University of Utah（犹他大学机器人中心）
Toward Context-Aware Exoskeleton Assistance: Integrating Computer Vision Payload Estimation with a Multi-Metric Optimization Space
Department of Mechanical Engineering, Politecnico di Milano（米兰理工学院机械工程系）；Department of Biomedical Engineering, National University of Singapore（新加坡国立大学生物医学工程系）；School of Science and Technology, Singapore University of Social Sciences（新加坡社会科学院科学与技术学院）；College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics（南京航空航天大学机电学院）
Assistance Torque Estimation via Dynamics-Aware Optimization for Lower-Limb Exoskeleton in Complex Environments
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所多模态人工智能系统国家重点实验室）；The School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）
Personalized Lower-limb Exoskeleton Assistance via Preference-based Bayesian Optimization
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Macau University of Science and Technology（澳门科技大学）
ExoTraj: A General Lower-limb Exoskeleton Assistance Policy for Complex Environments
The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所多模态人工智能系统国家重点实验室）；The School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；CASIA-MUST Joint Laboratory of Intelligence Science and Technology, Institute of Systems Engineering, Macau University of Science and Technology（澳门科技大学系统工程研究所中科院自动化所-澳门科技大学智能科学与技术联合实验室）；The School of Automation and Intelligence, Beijing Jiaotong University（北京交通大学自动化与智能学院）
A Novel Passive Occupational Shoulder Exoskeleton With Adjustable Peak Assistive Torque Angle For Overhead Tasks
School of Mechatronics Engineering, Harbin Institute of Technology（哈尔滨工业大学机电工程学院）；School of Medicine and Health, Harbin Institute of Technology（哈尔滨工业大学健康与医学学院）；Emergency Science Research Institute, Chinese Institute of Coal Science（中国煤炭科学研究院应急科学研究所）
A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals
Icahn School of Medicine at Mount Sinai（西奈山伊坎医学院）；Grove School of Engineering（格罗夫工程学院）；City College of New York（纽约城市学院）；Moss Rehabilitation Research Institute（莫斯康复研究所）；University of Wisconsin-Madison（威斯康星大学麦迪逊分校）
A Novel Hybrid PID-LQR Controller for Sit-To-Stand Assistance Using a CAD-Integrated Simscape Multibody Lower Limb Exoskeleton
Thapar Institute of Engineering and Technology（塔帕尔工程技术学院）；Khalifa University Center for Autonomous Robotic Systems (KUCARS)（哈利法大学自主机器人系统中心）；Khalifa University（哈利法大学）
