Abstract
In this paper, we suggest a body weight cancelling system using rubberless artificial muscle. This system reduces torque due to the mass on lower limbs by hanging a person with rubberless artificial muscle. The control procedure to hang by constant power was suggested to perform stable body weight cancelling in this system. In addition, we aim to perform appropriate body weight cancelling in walking. Therefore, the validity of principle for detecting horizontal force was confirmed experimentally. From the above-mentioned result, the realization of a system performing body weight cancelling appropriately corresponding to the movement of the person is possible by indicating the procedure that we suggested.
