The person could juggle each bar as his right foot steps on the ground or bridge. He starts juggling three times before the bridge while walking like so:
Right foot Right foot Right foot bridge .... bridge
juggle 1 bar juggle 1 bar juggle 1 bar just before the bridge
To minimize the instanteous force, he wants to juggle each bar so that the upward force he exerts on the bar is constant.
So, the impulse-momentum principle approximately reduces to
F delta time = m(v2 - v1) EQUATION 1
where F is the (vector) force on the bar, m is the mass of each bar, and v1 is the initial (vector) velocity (just before the bar returns to his hand) and v2 is the final (vector) velocity (just after the bar leaves his hand).
There is a time when the velocity of the bar relative to the bridge and the person is zero. At that point, the person will also have his weight about equally balanced between his feet. So, at this time, the total weight on the bridge would be (78 kg + 1 kg)*g + a, where *g is the gravitational acceleration and a is an additional upward acceleration to be determined later. Since the magnitude of F is supposed to be constant, we can take |F| = (1 kg)*g + a approximately, where | | denotes magnitude.
Each bar goes up and down in a parabola given by
x = ut,
where u = the person's speed (assumed constant) across the bridge.
y = vsin(theta)t - gt^2/2,
where v = initial speed of the bar, shortly after it leaves the hand, theta = the angle to the ground at which it leaves the hand, t = time, and g = gravitational acceleration.
The velocity at the beginning of the parabola, when it leaves the hand, is (vector, with 2 components!)
v2 = u, vsin(theta)
The velocity at the end of the parabola, when it is coming in, is
v1 = u, vsin(theta) - g(th)
where (th) = hang time
Hence,
v2 - v1 = 0, g(th)
and
|v2 - v1| = g(th)
From equation 1,
|F|delta t = m|(v2 - v1)|
or
((1kg)*g + a) delta t = (1kg)*g(th) EQUATION 2
I don't see why we can't make delta t = (th), meaning that the person juggles the bars constantly, that is, as soon as one bar leaves his hand, another one is already coming into place to be handed. Hence, a = 0. The bridge thus never needs to bear a weight exceeding (79 kg)*g.
It would require coordination, timing, constancy of performance, stamina that are perhaps beyond the ability of any juggler, but I don't see why it can't be done in priciple.