Integrating Evaluation into Exoskeleton Systems: A Model-Based Approach.

The evaluation of wearable robotic systems remains a challenge, particularly in real-world environments where laboratory-based methods are impractical. Existing approaches rely on external instrumentation, such as surface electromyography (sEMG) or motion capture, which are difficult to deploy continuously and do not directly measure key internal metrics such as joint loading or spinal forces. This work introduces a new paradigm for exoskeleton evaluation in which biomechanical assessment is embedded directly within the device's sensing and computational architecture. We present the ExoMetrix system, a platform that integrates onboard sensing, real-time data acquisition, cloud-based processing, and user-facing analytics into a unified workflow for continuous evaluation of human-exoskeleton interaction. Sensor data from the device are streamed and processed using physics-based models. The resulting outputs are translated into estimates of internal biomechanical quantities, including joint torques, spinal compression and shear forces, and muscle loading. By enabling real-time feedback and longitudinal monitoring without external instrumentation, this approach transforms evaluation from an external, episodic process into an embedded and continuous capability, supporting safer and more scalable deployment of exoskeleton technologies.