Whole-Body Motion Guided Reference Generation for Uncertainty-Aware Compliant Assistance

The paper proposes a dual-loop control strategy for exoskeleton assistance. A denoising generator uses whole-body human motion and exoskeleton proprioception, with task descriptions as auxiliary cues, to generate future trajectories. The controller uses the sampled trajectories’ mean as its reference and variance to regulate stiffness through variable admittance control. Experiments report reduced muscle activation versus standard baselines and lower metabolic energy expenditure than the unassisted condition.