{"ID":2848496,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.25335","arxiv_id":"2510.25335","title":"An approach for combining transparency and motion assistance of a lower body exoskeleton","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.","short_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 backlas...","url_abs":"https://arxiv.org/abs/2510.25335","url_pdf":"https://arxiv.org/pdf/2510.25335v1","authors":"[\"Jakob Ziegler\",\"Bernhard Rameder\",\"Hubert Gattringer\",\"Andreas Mueller\"]","published":"2025-10-29T09:49:21Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}