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Mantian Li 1,2 , Jing Deng 1 , Fusheng Zha 1,2,* , Shiyin Qiu 1, Xin Wang 2 and Fei Chen 3,* 1 State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, China; limt@hit.edu.cn (M.L.); 13b308005@hit.edu.cn (J.D.); qsy@hit.edu.cn (S.Q.) 2 Shenzhen Academy of Aerospace Technology, Shenzhen 518000, China; xin.wang@chinasaat.com 3 Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy * Correspondence: zhafusheng@hit.edu.cn (F.Z.); fei.chen@iit.it (F.C.); Tel.: +86-0451-86414174 (F.Z.); +39-010-71781217 (F.C.)

Towards Online Estimation of Human Joint Muscular Torque with a Lower Limb Exoskeleton Robot