  In the domain of assistive robotics, the significance of effective modeling
is well acknowledged. Prior research has primarily focused on enhancing model
accuracy or involved the collection of extensive, often impractical amounts of
data. While improving individual model accuracy is beneficial, it necessitates
constant remodeling for each new task and user interaction. In this paper, we
investigate the generalizability of different modeling methods. We focus on
constructing the dynamic model of an assistive exoskeleton using six
data-driven regression algorithms. Six tasks are considered in our experiments,
including horizontal, vertical, diagonal from left leg to the right eye and the
opposite, as well as eating and pushing. We constructed thirty-six unique
models applying different regression methods to data gathered from each task.
Each trained model's performance was evaluated in a cross-validation scenario,
utilizing five folds for each dataset. These trained models are then tested on
the other tasks that the model is not trained with. Finally the models in our
study are assessed in terms of generalizability. Results show the superior
generalizability of the task model performed along the horizontal plane, and
decision tree based algorithms.
