2P1-C01 Extended-Admittance Based Power Assistive Technology for Arm's Motion Support with One-joint-one-EMG Sensor(Wearable Robotics)

In this paper, based on our proposed admittance control for holding up a load with EMG signal, a negative admittance control is developed for holding down the load for power assist. First, it is confirmed by the experiments that the main muscle used for elbow lifting is biceps brachii, and shoulder lifting is deltoid clavicular part. Then, the experiments for elbow and shoulder joint motion support are implemented, and the results show the effectiveness for holding up with admittance control and for holding down for proposed negative admittance control.