This paper discusses upper-limb power-assist control using a pneumatic rotary actuator to support shoulder movement and an air cylinder to support elbow move-ment by agricultural workers lifting a 30 kg rice bag without inducing low back pain. Surface electro-myogram (EMG) signals are used as trigger signals, joint support torque is calculated based on the antigra-vity term of necessary joint torque, estimated based on the dynamics of a human approximated link model. Experimental results demonstrate the effectiveness of proposed power-assist control.

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