@article{ensuringinteractionsafetyinmultitaskexos,
  title = {Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework},
  author = {Muyuan Ma and Houcheng Li and Haotian Zhai and Lijun Han and Xinpan Meng and Xiuze Xia and Long Cheng},
  year = {2026},
  eprint = {2606.06370},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.06370},
}