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 , 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 and a second passive component , 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 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 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 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 , 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 and a second passive component , 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 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 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 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). <EOS>