As the exoskeleton robot for the assistance of walking is on the rise, HRI (Human-Robot Interaction) come to be an important issue. So in this research the angle following Variable Stiffness Actuator by using cam for overcoming the limitation of volume and weight in existing mechanisms. For this mechanism determinant of stiffness is not an absolute value but it can be change from zero to rigid by the location of the pivot in the gage between the application point of the input force and output force. So it can be miniaturized and have the volumetric advantage by kinematic design. This variable stiffness system make the HRI effective and the safety from injury resulted from the malfunction and the wrong control can be guaranteed.

The aim of this study was to develop and verify gait training system for post-stroke hemiplegia patients with step length asymmetry. Most post-stroke hemiplegic patients show gait asymmetry and weight shifting training has been suggested as a useful method for improving the walking ability. However, verbal cue by physical therapist may be not effective. Therefore, our weight shift training system was designed to give a feedback to patients through precise plantar pressure and center of pressure (COP) measurement. This weight shifting biofeedback training system is composed of F-Scan plantar pressure measurement system and software development kit (SDK) for Windows operating system. Two post-stroke patients with step length asymmetry were enrolled in this study. After training for six weeks, the weight shift score and step length ratio of two all patients were improved and approached to them of non-disabled. This system developed in this study may improve the step length asymmetry, and therefore this system is also expected to improve a walking ability in hemiplegic patients.

TFLIM(Transverse Flux Linear Induction Motor), making its closed magnetic path with the direction of the traveling field orthogonal, had been developed to decrease an edge effect of the general induction motor. To control the levitation force and the thrust force on the secondary part of TFLIM independently, the various methodologies have been presented. When we try to achieve the independent control using only the multi-phase inputs assigned in the stator coils as an ap-proach, in which condition we can minimize the coupling effect between two forces? In this paper, we show the qualita-tive influence of a slip frequency, an ac magnitude, a de offset superposed in the ac power, and a major parameter of TFLIM on the couple through the computer simulation. And to realize the independent motions between levitation and thrust motion without any auxiliary means for isolation of the secondary part of TFLIM, the decouple compensator is suggested, including the experimental results.