A human assistive device comprising a sensing module (4', 4") capable of reducing noise generated by muscle swelling and skin friction during human body movement, the human assistive device comprising a torso portion, a first exoskeleton member, and a second exoskeleton member, one end of the first exoskeleton member being pivoted to the torso portion, the second exoskeleton member being pivoted to another end of the first exoskeleton member, the sensing module (4', 4") being positioned on at least one of the first exoskeleton member and the second exoskeleton member, the sensing module (4', 4") comprising: a body attaching member configured to be attached to a human limb; a base module fixed onto at least one of the first exoskeleton member and the second exoskeleton member and comprising: a carrying platform fixed onto the second exoskeleton member; and a cup member disposed on the carrying platform, the cup member encasing a cup-shaped hollow space, the cup-shaped hollow space having an opening; a transmission member disposed in the cup-shaped hollow space and comprising a first connecting end and a second connecting end; a first sensor; a second sensor; a mounting base disposed on an inner wall of the cup member, the first sensor and the second sensor being disposed on the mounting base; an activating part fixed onto the transmission member, the activating part being configured to activate the first sensor and the second sensor on the mounting base; an initial position-constraining member disposed inside the cup-shaped hollow space; and the second sensor corresponding to the first sensor, the first sensor and the second sensor being separate from the body attaching member; wherein the first connecting end of the transmission member is being connected to the body attaching member via the opening; wherein the body attaching member drives the transmission member and the activating part to activate the first sensor to generate a first signal (α1) when the body attaching member is driven along a first direction by the human limb; wherein the initial position-constraining member holds the second connecting end and allows a gap to be present between the activating part and the mounting base when the transmission member is in an initial status; wherein the body attaching member drives the activating part to activate the second sensor to generate a second signal (α2) when the body attaching member is driven by the human limb along a second direction opposite to the first direction. a body attaching member configured to be attached to a human limb; a base module fixed onto at least one of the first exoskeleton member and the second exoskeleton member and comprising: a carrying platform fixed onto the second exoskeleton member; and a cup member disposed on the carrying platform, the cup member encasing a cup-shaped hollow space, the cup-shaped hollow space having an opening; a carrying platform fixed onto the second exoskeleton member; and a cup member disposed on the carrying platform, the cup member encasing a cup-shaped hollow space, the cup-shaped hollow space having an opening; a transmission member disposed in the cup-shaped hollow space and comprising a first connecting end and a second connecting end; a first sensor; a second sensor; a mounting base disposed on an inner wall of the cup member, the first sensor and the second sensor being disposed on the mounting base; an activating part fixed onto the transmission member, the activating part being configured to activate the first sensor and the second sensor on the mounting base; an initial position-constraining member disposed inside the cup-shaped hollow space; and the second sensor corresponding to the first sensor, the first sensor and the second sensor being separate from the body attaching member; wherein the first connecting end of the transmission member is being connected to the body attaching member via the opening; wherein the body attaching member drives the transmission member and the activating part to activate the first sensor to generate a first signal (α1) when the body attaching member is driven along a first direction by the human limb; wherein the initial position-constraining member holds the second connecting end and allows a gap to be present between the activating part and the mounting base when the transmission member is in an initial status; wherein the body attaching member drives the activating part to activate the second sensor to generate a second signal (α2) when the body attaching member is driven by the human limb along a second direction opposite to the first direction.