１. It is important to develop the orthosis which improves the Quality of Life (QOL) and maintains health conditions. We focus on an electric wheelchair which is a welfare apparatus for mobility support of a physically handicapped person. Therefore, the estimated method can be obtained unknown parameters of the driving environment.

２. It is important to develop the orthosis which improves the Quality of Life and maintains health conditions. As one of treatment methods done to lumbago, the waist fixation method is performed. A waist active orthosis implement with pneumatic flexible actuators developed.

３. We develop 3D quasi-passive walker with flat feet.
And an antagonistic pneumatic system is used as joint actuators. 3D quasi-passive walking in the level ground can realize by the simple swinging input of the frontal direction.