PROBLEM TO BE SOLVED: To generate force for supporting a users movement by extracting the users intention from movement of the users joint without using a myoelectric sensor.SOLUTION: Even when friction that is difficult to model exists at a gear part of a joint actuator, a multilink system generates force for supporting movement without giving a resistance feeling to a joint of a user wearing the system by performing control so as to compensate for the friction to make a joint unit follow an ideal mathematical model. Application of torque mathematically backed up to the joint unit in supporting the users movement consistently gives a feeling of being supported by natural force to the user even under various types of situations.SELECTED DRAWING: Figure 1
