A wearable system comprising: an exosuit or an exoskeleton configured to span one or more joints of a wearer; at least one actuator configured to generate a force in the exosuit of the exoskeleton; at least two sensors configured to measure information for evaluating an objective function associated with at least one of providing physical assistance to the wearer, an interaction between the wearer and the exosuit or the exoskeleton, and an operation of the exosuit or the exoskeleton; and at least one controller configured to: actuate the at least one actuator according to at least one actuation profile, evaluate the objective function based on the information measured by the at least two sensors to determine a resulting change in the objective function, adjust at least one parameter of the at least one actuation profile based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the at least one actuation parameter for maximizing the objective function, wherein the at least two sensors are configured to measure a rotational velocity of a joint of the wearer and a force generated in the exosuit or the exoskeleton, and wherein the at least one controller is configured to calculate, based on the measurements from the at least two sensors, an average positive power delivered by the exosuit or the exoskeleton to the wearer, and wherein the objective function is the average positive power. an exosuit or an exoskeleton configured to span one or more joints of a wearer; at least one actuator configured to generate a force in the exosuit of the exoskeleton; at least two sensors configured to measure information for evaluating an objective function associated with at least one of providing physical assistance to the wearer, an interaction between the wearer and the exosuit or the exoskeleton, and an operation of the exosuit or the exoskeleton; and at least one controller configured to: actuate the at least one actuator according to at least one actuation profile, evaluate the objective function based on the information measured by the at least two sensors to determine a resulting change in the objective function, adjust at least one parameter of the at least one actuation profile based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the at least one actuation parameter for maximizing the objective function, actuate the at least one actuator according to at least one actuation profile, evaluate the objective function based on the information measured by the at least two sensors to determine a resulting change in the objective function, adjust at least one parameter of the at least one actuation profile based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the at least one actuation parameter for maximizing the objective function, wherein the at least two sensors are configured to measure a rotational velocity of a joint of the wearer and a force generated in the exosuit or the exoskeleton, and wherein the at least one controller is configured to calculate, based on the measurements from the at least two sensors, an average positive power delivered by the exosuit or the exoskeleton to the wearer, and wherein the objective function is the average positive power. <EOS>