With low birth rates and increasing life expectancy, Germany is facing significant demographic change. This ageing society is facing various challenges in terms of the world of work, healthcare and mobility. In this context, assistance robotics is seen as a key to solving these challenges. The JuBot project is researching new, robust possibilities for adaptive assistance. The focus is on robotic technologies for maintaining and ensuring quality of life, supporting self-determined everyday activities and supporting care staff. Both humanoid assistance robots and wearable robots (exoskeletons) are used here. The focus of ifab's research is on adapting the human-robot interface to human needs. In this context, different ways of recording the user's condition and deriving the user's intention from this are being researched.