Title:An Approach for Combining Transparency and Motion Assistance of a Lower Body ExoskeletonAuthor(s):Jakob Ziegler, Bernhard Rameder, Hubert Gattringer, Andreas MüllerAbstract: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.Booktitle:Advances in Service and Industrial Robotics, RAAD 2023Publisher:Springer Nature Switzerland AGEditor(s):Tadej Petrič, Aleš Ude, Leon ŽlajpahISBN:978-3-031-32605-9Page Reference:page 237-244, 8 page(s)Publishing:2023Series:Mechanisms and Machine ScienceVolume:135