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I found a random model https://github.com/HKUST-Cybathlon2020/ROS-Gazebo-Simulation. All existing exoskeleton model developed yet, https://journals.sagepub.com/doi/pdf/10.1177/1729881417743554. Or I found a paper on arXiv but not getting code for this experiment focused on exoskeleton model https://www.youtube.com/watch?v=7Ol-U1y_S8I. Or using opensim-rl model with ROS then try this https://github.com/stanfordnmbl/osim-rl, you can use other AI algorithm for testing also. Or If you want to use advance physics then you can use MuJoCo physics engine plugin http://www.mujoco.org/forum/index.php?threads/ros-gazebo-integration.3371/ and https://github.com/shadow-robot/mujoco_ros_pkgs will help you.
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