Compound Movement Support by an ULSS Based on a Bioelectrical Signal for Upward High Load Works

Upward high load work s such as the installation of ceiling boards are severe work. We have developed an upper limb support system (ULSS) for the works. The purpose of this study is to develop compound movement support algorithm for the ULSS, and to confirm the effectiveness of the ULSS with the algorithm. The installation of the ceiling boards is compound movement. The workers move a tool vertically with one arm while holding the heavy board with another arm. The ULSS is a powered exoskeleton and has enough range of motion (ROM) for the works. The developed algorithm controls each arm part of the ULSS separately and achieves the compound movement support based on a bioelectrical signal (BES). The BES is detected on the surface of the human skin covering the muscle when the human is going to move their muscle. Volunteers perform the compound movement simulating the actual work in the evaluation experiments. As a result, the ULSS with the algorithm had a positive effect on the support. The average number of the compound movement with the ULSS increased 2.0 times compared to the average number without the ULSS.