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Yifei Yuan and Xianlian Zhou are with the Department of Biomedical Engineering, New Jersey Institute of Technology, Newark, NJ 07102, USA (yy72@njit.edu, alexzhou@njit.edu). Ghaith Androwis (GAndrowis@kesslerfoundation.org) is with Kessler Foundation, West Orange, NJ, 07052, USA
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Exoskeletons can learn to assist human movement without explicit timing cues or subject-specific retraining, thanks to a staged multi-agent training approach that mimics natural human adaptation.