An exoskeleton controller for a human-exoskeleton system

Receive the system parameter of a human * external skeleton system, and the generalized coordinate of a human * external skeleton system is received, In order to compensate the selected power, the technology which controls the external skeleton actuator in the joint of a human * external skeleton system is offered by determining the equivalent joint torque of an external skeleton actuator. Since a part of selected gravity and external force, or a perfect compensation is offered, 1 enforcement form of the present invention reduces the quantity of interference between optional control and assistant control, and humans can adapt themselves to an external skeleton system quickly by it. [Selection figure] Fig. 1