The purpose of this study is to develop a method to control power-assist systems with an energy regeneration system that achieves the desired load-reduction ratio even if torque saturation occurs. In this article, we use the ratio of the assist-force impulse to the operator-force impulse as an indicator to evaluate the control method. The proposed method predicts the needs of the operator and delives the desired load-reduction ratio by anticipating deficient impulses via the reliability of predicted power requirements.