Abstract
A stand alone wearable power assisting suit consisting of shoulders, arms, a back, a waist and legs units was developed. The units of arms, waist and legs have direct drive pneumatic rotary actuators driven by portable Ni-Cd batteries. The muscle forces are sensed by a new muscle hardness sensor utilizing a small load cell. The embedded microcomputer is used to calculate the necessary joint torque from static body mechanics using the joint angles, and the torque is combined with the output signals of the muscle sensors to make control signals. It was appeared that the output signals of the muscle sensors when a person hold up the weight of 20Kg was about same as that of the sensors when he hold up weight of 40Kg wearing the power assisting suit.
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