@inproceedings{cad9528cd98546cb9c1a887edd39cf3f,
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{\textquoteright}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.",
author = "Jakob Ziegler and Bernhard Rameder and Hubert Gattringer and Andreas M{\"u}ller",
year = "2023",
doi = "10.1007/978-3-031-32606-6\_28",
language = "English",
isbn = "978-3-031-32605-9",
volume = "135",
series = "Mechanisms and Machine Science",
publisher = "Springer Nature Switzerland AG",
pages = "237--244",
editor = "Tadej Petri{\v c} and Ale{\v s} Ude and Leon {\v Z}lajpah",
booktitle = "Advances in Service and Industrial Robotics, RAAD 2023",
}