Abstract
This paper describes on our pneumatic powered suits developed for assist wearer's forward, side flexion and twisting motion of the trunk and hip by direct torque control during loading works. The suits has seven active joints, including two roll joints on the back, and four passive joints. The joint configuration was designed based on a dynamic simulator consisting human and suits models. The experimental results on gravity compensation shows that the load was successfully transferred to lower limb joints, and the integrated electromyography of a human subject decreased more than 40% for trunk and hip joints.
