To verify the effectiveness the proposed estimation method,
experiments were carried out. In the experiments, the motion
sensors are installed on the upper arm, the forearm and the
hand as shown in Fig. 7. This motion sensor contains of 3-axis
accelerator, 3-axis gyro sensor and 3-axis magnetic sensor.
Each joint angle of upper-limb and hand position are calculated
based on the outputs of the motion sensors. In this paper, the
teaching data (each joint torque) in eq. (6) is also calculated
based on the outputs of the motion sensors.