Development of power assist system with individual compensation ratios for gravity and dynamic load

This paper present the design concept of a power assist system. In such system, when the controller is designed without considering the maximum torque of the actuators, the actuators can sometimes become saturated, resulting in a loss of stability and manoeuvrability. We propose a method for dealing with this problem. The load force is divided into gravitational and dynamic component, and each component is attenuated by an individual ratio. These ratios are determined considering the maximum power of the operator and the actuators