Elderly people as well as individuals after e.g. a stroke need active support in order to be able to perform everyday movements (again). To this end, we are looking in particular at the knee and elbow joints and developing novel methods to support them with torque. This includes the actuator technology, which has to be as small, light, quiet and energy-efficient as possible, and the sensor technology, with the help of which we want to estimate the intention of the person using the device. Here we also use machine learning methods to fuse sensor data and gain additional information.