Abstract
New power assisting suit consisting of shoulders, arms, a back, a waist,a hip and legs units was developed. The hip unit has the direct drive pneumatic actuator assisting the rotation of hip joints and has joints which realize the external rotation of legs. The new suit combined the hip unit transmitted assisting torque directly to each joint, especially independently to the waist joints and to the hip joints of the wearer, so that the wearer could walk easily keeping weight in the hands, and by wearing the suit the weight could be lifted by half or less muscular power.
