Abstract
In this paper, we developed a power assistive device for human elbow motion support by real-time admittance control using EMG signal. First, it was confirmed by the experiment that the main muscle used for lifting is biceps brachii. A two degree of freedom power assistance device is developed, and a real-time control approach based admittance model using EMG signals is proposed. A new control technique for holding down is proposed. Experimental results verified the proposed approaches.
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