Abstract
A powered exoskeleton which is mechanical equipment used for assisting and increasing human power, and usage of them has been considered in nuclear facility. Moreover, the method that develops upper PE and base PE separately has been devised. Connecting the general use base PE and varieties of upper PE designed for work contents, it's expected to decrease overall development cost and term. However, due to connecting the upper PE, an offset load happens and the operator feels as being pulled backward. It hinders the operator's motion and the strength relies on the structure of the upper PE, the control system corresponding to any upper PE is needed for development of PE. Therefore, in this research, we propose control method to compensate the offset load and measure effects of decreasing it with some experiments.
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