A motion-assist system for rehabilitation of a patient, including at least two wearable motion-assist devices (10-1, 10-2), each comprising: a control device (26-1, 26-2), a driving unit (25-1, 25-2, 27-1, 27-2) comprising a driver (27-1, 27-2) and an actuator unit (25-1, 25-2), a physical phenomenon detection unit (22-1, 22-2, 24-1, 24-2), a communications unit (28-1, 28-2), and a data transfer unit, wherein: said physical phenomenon detection unit (22-1, 22-2, 24-1, 24-2) is adapted to detect physical phenomenons such as joint angles and output torque at said actuator unit (25-1, 25-2), communicate them to the control device (26-1, 26-2) of its own wearable motion-assist device (10-1, 10-2), which control device is capable to calculate therefrom an output torque value to be communicated to the control device of the other one of said two wearable motion-assist devices, said communication unit (28-1, 28-2) connects together control devices (26-1, 26-2) of said at least two wearable motion-assist devices (10-1, 10-2), said data transfer unit is adapted to transfer data calculated from values corresponding to physical phenomenons detected by a physical phenomenon detection unit (22-1, 24-1) of one of said at lest two wearable motion-assist devices (10-1, 10-2) and transferred to the control device of said same wearable motion-assist device from said control device to the control device of another one of said at lest two wearable motion-assist devices (10-1, 10-2), the driving unit (27-1, 27-2) of said other one (10-1,10-2) of wearable motion-assist devices is adapted to receive signals corresponding to the above calculated output torque value from the control device (26-1, 26-2) of its own wearable motion-assist device (10-1, 10-2), and apply them to said actuator unit (25-1, 25-2) of its own wearable motion-assist device (10-1, 10-2). a control device (26-1, 26-2), a driving unit (25-1, 25-2, 27-1, 27-2) comprising a driver (27-1, 27-2) and an actuator unit (25-1, 25-2), a physical phenomenon detection unit (22-1, 22-2, 24-1, 24-2), a communications unit (28-1, 28-2), and a data transfer unit, wherein: said physical phenomenon detection unit (22-1, 22-2, 24-1, 24-2) is adapted to detect physical phenomenons such as joint angles and output torque at said actuator unit (25-1, 25-2), communicate them to the control device (26-1, 26-2) of its own wearable motion-assist device (10-1, 10-2), which control device is capable to calculate therefrom an output torque value to be communicated to the control device of the other one of said two wearable motion-assist devices, said communication unit (28-1, 28-2) connects together control devices (26-1, 26-2) of said at least two wearable motion-assist devices (10-1, 10-2), said data transfer unit is adapted to transfer data calculated from values corresponding to physical phenomenons detected by a physical phenomenon detection unit (22-1, 24-1) of one of said at lest two wearable motion-assist devices (10-1, 10-2) and transferred to the control device of said same wearable motion-assist device from said control device to the control device of another one of said at lest two wearable motion-assist devices (10-1, 10-2), the driving unit (27-1, 27-2) of said other one (10-1,10-2) of wearable motion-assist devices is adapted to receive signals corresponding to the above calculated output torque value from the control device (26-1, 26-2) of its own wearable motion-assist device (10-1, 10-2), and apply them to said actuator unit (25-1, 25-2) of its own wearable motion-assist device (10-1, 10-2). said physical phenomenon detection unit (22-1, 22-2, 24-1, 24-2) is adapted to detect physical phenomenons such as joint angles and output torque at said actuator unit (25-1, 25-2), communicate them to the control device (26-1, 26-2) of its own wearable motion-assist device (10-1, 10-2), which control device is capable to calculate therefrom an output torque value to be communicated to the control device of the other one of said two wearable motion-assist devices, said communication unit (28-1, 28-2) connects together control devices (26-1, 26-2) of said at least two wearable motion-assist devices (10-1, 10-2), said data transfer unit is adapted to transfer data calculated from values corresponding to physical phenomenons detected by a physical phenomenon detection unit (22-1, 24-1) of one of said at lest two wearable motion-assist devices (10-1, 10-2) and transferred to the control device of said same wearable motion-assist device from said control device to the control device of another one of said at lest two wearable motion-assist devices (10-1, 10-2), the driving unit (27-1, 27-2) of said other one (10-1,10-2) of wearable motion-assist devices is adapted to receive signals corresponding to the above calculated output torque value from the control device (26-1, 26-2) of its own wearable motion-assist device (10-1, 10-2), and apply them to said actuator unit (25-1, 25-2) of its own wearable motion-assist device (10-1, 10-2).