A wearable support structure for at least partly relieving a human body during walking and while said human body is carrying a load at the back or the hip of said human body, said wearable support structure comprising: - two foot attachments, wherein one of said two foot attachments is arranged to be connected to a left foot of said human body and wherein the other of said two foot attachments is arranged to be connected to a right foot of said human body; - a load support arranged to support said load while said human body is carrying said load; and - two leg structures, each of said two leg structures comprising: - a first rigid member arranged for supporting said load support and pivotally connected, via a first pivot arrangement, to said load support, wherein a pivot axis of a first pivot of said first pivot arrangement, during use, is extending in a virtual plane that is parallel to a transverse plane of said human body and, preferably, at least substantially horizontal, preferably, wherein said first pivot arrangement is provided below said load support; - a second rigid member arranged for supporting said load support, via said first rigid member, and pivotally connected, via a second pivot arrangement, to said first rigid member; - a third rigid member arranged for supporting said load support via said first rigid member and said second rigid member, and pivotally connected, via a third pivot arrangement, to said second rigid member and pivotally connected, via a fourth pivot arrangement, to a respective one of said two foot attachments; wherein said first rigid member is movable between a first position and a second position such that a minimum distance between said second pivot arrangement and said load support varies during a gait cycle of said human body, characterized in that, said fourth pivot arrangement comprises a second pivot, wherein a pivot axis of said second pivot is perpendicular to said pivot axis of said first pivot of said third pivot arrangement. - two foot attachments, wherein one of said two foot attachments is arranged to be connected to a left foot of said human body and wherein the other of said two foot attachments is arranged to be connected to a right foot of said human body; - a load support arranged to support said load while said human body is carrying said load; and - two leg structures, each of said two leg structures comprising: - a first rigid member arranged for supporting said load support and pivotally connected, via a first pivot arrangement, to said load support, wherein a pivot axis of a first pivot of said first pivot arrangement, during use, is extending in a virtual plane that is parallel to a transverse plane of said human body and, preferably, at least substantially horizontal, preferably, wherein said first pivot arrangement is provided below said load support; - a second rigid member arranged for supporting said load support, via said first rigid member, and pivotally connected, via a second pivot arrangement, to said first rigid member; - a third rigid member arranged for supporting said load support via said first rigid member and said second rigid member, and pivotally connected, via a third pivot arrangement, to said second rigid member and pivotally connected, via a fourth pivot arrangement, to a respective one of said two foot attachments; - a first rigid member arranged for supporting said load support and pivotally connected, via a first pivot arrangement, to said load support, wherein a pivot axis of a first pivot of said first pivot arrangement, during use, is extending in a virtual plane that is parallel to a transverse plane of said human body and, preferably, at least substantially horizontal, preferably, wherein said first pivot arrangement is provided below said load support; - a second rigid member arranged for supporting said load support, via said first rigid member, and pivotally connected, via a second pivot arrangement, to said first rigid member; - a third rigid member arranged for supporting said load support via said first rigid member and said second rigid member, and pivotally connected, via a third pivot arrangement, to said second rigid member and pivotally connected, via a fourth pivot arrangement, to a respective one of said two foot attachments;