Exoskeleton systems have been largely developed in spite that quantitative performance estimation has not been reported so far. Consequently, we have been developing the wearable muscle suit for direct and physical motion supports with relevant reports on the performance. The McKibben artificial muscle has introduced “muscle suit” compact, lightweight, reliable, and wearable “assist-bots” enabling users to lift and carry heavy objects. Applying integral electromyo-graphy (IEMG), we show the results of quantitative suit performance and posture-preserving efficiency. However, for practical use, lifting seems to be one of the most important tasks for users. We improve the forearm so that the muscle suit assists the user in vertical lifting. Load carrying and lifting experi-ments show the muscle suit’s effectiveness.

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