Soft wearable muscle assisting device

A soft wearable muscle assisting device, comprising:

• active and passive components;
• at least a wearable body interface and attached thereon elements of the active and passive components adapted to together assist a user in changing or maintaining a position of a first body part articulated to a second body part,
• the wearable body interface comprising at least two garment portions,
• the active and passive components comprising at least one actively powered element,
• the passive components comprising at least a first passive component and a second passive component that both extend between the at least two garment portions and comprise elastic material for storing energy provided by at least one of the user and the at least one actively powered element, the first and a second passive component configured to be, in use, disposed on opposite sides of a joint of a body such that one of the first and second passive components is disposed in front of the joint and the other of the first and second passive components is disposed at the rear of the joint, the active component being provided with only one actuator for extending at least two joints.