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arXiv · 2510.25335

An approach for combining transparency and motion assistance of a lower body exoskeleton

Jakob Ziegler·Bernhard Rameder·Hubert Gattringer·Andreas Mueller
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Abstract

In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a minimum of perceived interaction forces, is realized by exploiting the gear backlash of the actuation units. During walking a superimposed assistance mode applies an additional torque guiding the legs to their estimated future position. The concept of adaptive oscillators is utilized to learn the quasi-periodic signals typical for locomotion. First experiments showed promising results.

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Jakob Ziegler, Bernhard Rameder, Hubert Gattringer, Andreas Mueller. 2025-10-29. An approach for combining transparency and motion assistance of a lower body exoskeleton. https://doi.org/10.1007/978-3-031-32606-6_28

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