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The level walking of the passive walker that is realized only by a waist assist is high transfer efficiency very much. However, it is necessary to be beyond a potential barrier easily for the autonomy level walking. And, how to walk walking robot is very similar to a person's. Before, we studied the walking assist device based on human-assisted passive walking. In this paper, we introduce walking assist device harmonized with human and demonstrate an effect that the walking assist device gives to human walking.

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