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Recently, assisting human motion with a wearable robot is studied widely. These assisting systems are proposed from various points of view. Our study has proposed an assisting system that the torque, angle, and the viscoelasticity of the joint are variable because the human muscle has the characteristic of variable viscoelasticity. This system consists of antagonized muscle that the stiffness is variable and magneto-rheological fluid brake that the viscosity is variable. Therefore, the systemdoi:10.7210/jrsj.36.567 fatcat:3d45fqku6nf6rj4wop2qfxlnje