A portable load lifting assist system (100) includes a movable support structure including an exoskeleton torso (160) including an exoskeleton trunk (109) that is configured to be coupled to a person’s upper body, and a load lifting mechanism (221) secured to the movable support structure including a winch (229) having a motor driven reel mechanism for reeling first and second lifting straps or cables (222) that are secured to first and second end effectors (223). First and second handles (224) are attached to an outside surface of the first and second end effectors, wherein the lifting straps or cables when driven by the winch lift a load contacted by the first and second end effectors. A lower extremity exoskeleton (120) is configured to be coupled to a person’s lower limbs. The exoskeleton trunk couples to the person’s upper body through an upper body interface device (150) that is coupled to the lower extremity exoskeleton.

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