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We have developed a wearable upper limb support system (ULSS) for support during heavy overhead tasks. The purpose of this study is to develop the voluntary motion support algorithm for the ULSS, and to confirm the effectiveness of the ULSS with the developed algorithm through dynamic evaluation experiments. The algorithm estimates the motor intention of the wearer based on a bioelectrical signal...
Dynamic joint stiffness defines the dynamic relationship between the position of a joint and the torque acting about it and can be separated into intrinsic and reflex components. Under stationary conditions, these can be identified using a nonlinear parallel-cascade algorithm that models intrinsic stiffness-a linear dynamic response to position-and reflex stiffness-a nonlinear dynamic response to...
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