A soft wearable muscle assisting device having at least a wearable body interface (101, 102, 103; 302, 303; 902, 903) and active and passive components (310; 1110, 1110A; 201, 202, 203, 206, 207, 208; 1001, 1001A; 1002, 1002A) adapted to together assist a user in changing or maintaining a position of a first body part articulated to a second body part via a joint (11, 12, 13, 21, 22, 23, 31, 32), the wearable body interface (101, 102, 103; 302, 303; 902, 903) comprising at least two garment portions (101, 102, 103; 302, 303; 902, 903); the active component (310; 1110, 1110A) comprising at least one actively powered element (301; 1100, 1100A) attached on the body interface (101, 102, 103; 302, 303; 902, 903), characterized in that the passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) comprise at least a first passive component (201, 202, 203, 206, 207, 208, 1001A, 1002A) and a second passive component (201, 202, 203, 206, 207, 208, 1001, 1002), the first and second passive components both being attached on the body interface (101, 102, 103; 302, 303; 902, 903) and extending between the at least two garment portions (101, 102, 103; 302, 303; 902, 903) along the joint (11, 12, 13, 21, 22, 23, 31, 32) and comprising elastic material for storing energy provided by the user and/or by the at least one actively powered element; wherein, in use, a part of one of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) is arranged in front of the joint (11, 12, 13, 21, 22, 23, 31, 32) and a part of the other of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) is arranged at the back of the joint (11, 12, 13, 21, 22, 23, 31, 32) such that one movement extends one of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) while the same movement reduces the extension of the other of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A). at least a wearable body interface (101, 102, 103; 302, 303; 902, 903) and active and passive components (310; 1110, 1110A; 201, 202, 203, 206, 207, 208; 1001, 1001A; 1002, 1002A) adapted to together assist a user in changing or maintaining a position of a first body part articulated to a second body part via a joint (11, 12, 13, 21, 22, 23, 31, 32), the wearable body interface (101, 102, 103; 302, 303; 902, 903) comprising at least two garment portions (101, 102, 103; 302, 303; 902, 903); the active component (310; 1110, 1110A) comprising at least one actively powered element (301; 1100, 1100A) attached on the body interface (101, 102, 103; 302, 303; 902, 903), characterized in that the passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) comprise at least a first passive component (201, 202, 203, 206, 207, 208, 1001A, 1002A) and a second passive component (201, 202, 203, 206, 207, 208, 1001, 1002), the first and second passive components both being attached on the body interface (101, 102, 103; 302, 303; 902, 903) and extending between the at least two garment portions (101, 102, 103; 302, 303; 902, 903) along the joint (11, 12, 13, 21, 22, 23, 31, 32) and comprising elastic material for storing energy provided by the user and/or by the at least one actively powered element; wherein, in use, a part of one of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) is arranged in front of the joint (11, 12, 13, 21, 22, 23, 31, 32) and a part of the other of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) is arranged at the back of the joint (11, 12, 13, 21, 22, 23, 31, 32) such that one movement extends one of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A) while the same movement reduces the extension of the other of the first and second passive components (201, 202, 203, 206, 207, 208; 1001, 1001A, 1002, 1002A).