An improve material holding device using magnetic force of variable strength comprising: an electromagnet mounted to a universal bracket adapted to mount to a vertical or horizontal surface, or a vise using the vise bar integrally attached to the underside of the magnet, a safety foot switch and timer, and control means to vary the force of said electromagnet. User can now safely free his hands from work pieces and speedily reposition said work piece.

 
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> Control device and footstep determination device for legged mobile robot

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