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

Jakob Ziegler; Bernhard Rameder; Hubert Gattringer; Andreas Mueller

doi:10.1007/978-3-031-32606-6_28

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

Robotics 2025-10-30 v1

Authors: 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.

Keywords

lower body exoskeleton gait assistance transparency motion assistance adaptive oscillators torque control human-robot interaction

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@article{arxiv.2510.25335,
  title  = {An approach for combining transparency and motion assistance of a lower body exoskeleton},
  author = {Jakob Ziegler and Bernhard Rameder and Hubert Gattringer and Andreas Mueller},
  journal= {arXiv preprint arXiv:2510.25335},
  year   = {2025}
}

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8 pages

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

Abstract

Keywords

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