Abstract: A dynamic control system for a power-assist device has a statics formulator for determining a set of static torques for the lift system based on force data from the lift system. The control system further includes a dynamics formulator for determining a set of dynamic torques for the lift system based on joint data and the static torques. A static torque and a dynamic torque is therefore determined for each joint of the assist device. The control system also includes a torque summation module for summing the dynamic torques with the static torques to determine torque data for each joint of the lift system. The torque summation module applies the torque data to the lift system to achieve dynamic compensation within a substantially shorter response time. Thus, a method and system are presented for dynamically controlling a power-assisted lift system to continuously reduce human operator strain in a real-time mode.