Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for an exosuit activity transition control structure. In some implementations, sensor data representing an estimate of sensor data that will be produced by sensors of an exosuit at a particular time in the future is generated, where the exosuit is configured to assist mobility of a wearer. Actual sensor data that is generated using the sensors of the exosuit is obtained. A measure of uncertainty is determined based on the forecasted sensor data and the actual sensor data. Based on the measure of uncertainty, a control action for the exosuit to adjust an assistance provided to the wearer is determined.
CONTROL USING AN UNCERTAINTY METRIC