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Freezing of Gait (FOG) is one of the typical parkinsonian gait disturbances of progressive neurological disorders such as Parkinson's disease (PD) and progressive supranuclear palsy. Previous studies showed that the wearable cyborg HAL trunk-unit improved their gait disturbances through only an autonomous sway control that provided lateral swing with constant frequency. To promote the improvement by establishing interactive Bio-Feedback loop, it is necessary to realize synchronization between the wearer's intention and gait states for stabilizing gait, i.e. reducing variation of gait cycle. In this study, we developed a voluntary control method that responded to an intentional change in gait cycle and a method that switched 2 kinds of controls including the voluntary control method and the autonomous sway control method for stabilizing gait. The voluntary swing control method synchronized the HAL's force with …