In this paper, we point out that isoviscous loading systems are more effective than isokinetic loading systems in order to obtain torque/angular velocity/angle position data. To realize the isoviscous loading systems, we utilize a direct drive motor and impedance control. The impedance control generates isoviscosity by reducing inertia effect and elastic effect. The performance of the loading system with isoviscosity is demonstrated through experimental results at first. Next, in the obtained torque/angular velocity/angle position data, repeatability on the same subject is confirmed and individual differences are made clear with some points.
