It is my understanding that there are 3 fundamental control methods : velocity, position and torque.
In exoskeletons meant to augment an healthy user's strength, a typical control method used is sensitivity amplification control, more specifically torque amplification. I am currently selecting a motor controller and trying to build a control framework for an exoskeleton that would use such a system.
According to the research that I have done, an user applied force would be detected by a sensor and the movement would then be assisted by an actuator according to this relation : (amplification ratio * detected force). In this scenario, is it fair to assume that velocity and position control are not needed?