Abstract
This paper suggests a part of the power assist system in which there is as a purpose with rehabilitation machinery. Safety and sense of cooperation are made as an important requirement with cooperation activity with a human as this system and a robot. While we paid attention to a bilinear system and have produced a power assist system and analyzed human motion and simulated from a physical theory by computer, and carried out the comparison experiment, as aiming at the optimum realization of the system.
