(a) Overview of wearing set-up of the assist wear. (b) Structure of the multilayered PVC gel actuator with two types of anode mesh electrodes. The red layer with small holes is comprised of slide electrodes to minimize the friction with the slide shafts. (c) Contraction and expansion movement of the stretching type actuator with the DC field turned on and off. (d) FlexiForce sensor-based motion detection (position estimator). (e) Power and controller.