Jakob Ziegler, Bernhard Rameder, Hubert Gattringer, Andreas Müller,
"An Approach for Combining Transparency and Motion Assistance of a Lower Body Exoskeleton"
, in Tadej Petri?, Ale? Ude, Leon ?lajpah: Advances in Service and Industrial Robotics, RAAD 2023, Serie Mechanisms and Machine Science, Vol. 135, Springer Nature Switzerland AG, Switzerland, Seite(n) 237-244, 2023, ISBN: 978-3-031-32605-9
An Approach for Combining Transparency and Motion Assistance of a Lower Body Exoskeleton
Sprache des Titels:
Advances in Service and Industrial Robotics, RAAD 2023
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.