An approach for combining transparency and motion assistance of a lower body exoskeleton
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866911239356022784 |
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| author | Ziegler, Jakob Rameder, Bernhard Gattringer, Hubert Mueller, Andreas |
| author_facet | Ziegler, Jakob Rameder, Bernhard Gattringer, Hubert Mueller, Andreas |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_25335 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | An approach for combining transparency and motion assistance of a lower body exoskeleton Ziegler, Jakob Rameder, Bernhard Gattringer, Hubert Mueller, Andreas Robotics 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. |
| title | An approach for combining transparency and motion assistance of a lower body exoskeleton |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.25335 |