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This paper presents the application of a humanoid robot as an evaluator of assistive devices; we propose a framework of the evaluation by utilizing identification of the mechanical properties of a humanoid robot. The accurate estimation of joint torque with the identification can enhance the performance to estimate the supporting effect of the devices. We evaluate a passive assistive wear "Smart Suit Lite (SSL)" as an example of device, and use HRP-4C as the humanoid platform. With the generaldoi:10.1109/humanoids.2014.7041361 dblp:conf/humanoids/AyusawaNYIT14 fatcat:zdwsqwgvondkjeixu2cww4bejy