 This paper proposes a new control method for exoskeletons that can provide assistance across a wide range of activities. The proposed method uses a port-controlled Hamiltonian framework to optimize parameters related to gravitational and gyroscopic terms, which are then used to generate assistive torque profiles that match those of able-bodied humans. This allows the exoskeleton to provide assistance without compromising the user's ability to remain in control of their own energy growth. The proposed method was tested on a powered knee ankle exoskeleton and demonstrated its effectiveness in providing assistance across a variety of activities, including walking on different inclines, ramp ascent slash descent, and stand to sit. This article was offered by GiantPainLyn, NickelVe DiveCar, Gracie Thomas and others.