To compensate the defect of rollator based on FSR (Force Sensing Resistor) or force sensor such as velocity control problem ongait slopes, Knee joint anterior displacement was investigated to detect walking intention detection using IR (Infraed Ray) sensors. Leg muscle activities and foot pressure are also measured in order to verify our investigation. Two IR sensors are placed on the center of rollator to sense right and left legs’ walking intention. EMG signal was monitored rectus femoirs, biceps femoris, tibialis anterior, and gastrocnemius. Pedar-X system measured foot pressure (forefoot, mid foot, hindfoot, and average pressure). Twenty healthy males (age 24.3±1.5 years, height 174.7±5.3, and weight 72.6±4.6kg) were involved in experiments which had been preceded 30 minutes a week, during 3weeks. The gait slope and increasing velocity situation show that knee joint anterior displacement was increased. Based on EMG and foot pressure results, femoral region muscles’ activation increased and load activated was concentrated on hindfoot in volar titling case. On the contrary, lower leg muscles were more activated and concentrated load was located in forefoot. These results were similar to knee joint anteriordisplacement from IR sensors.