In this laboratory, human-robot interaction systems for virtual reality, tele-operation, and rehabilitation are investigated using robotics, control, and advanced sensing technologies. Wearable systems were developed for military use, daily life support, and rehabilitation. These wearable systems, however, feature rigid structures and actuators, which were usually employed in conventional robotics research. The design, manufacture, and control of such systems may be appropriate from the point of view of a ‘robot’, but have not been widely applied in practice because they are heavy, hard, and difficult to wear from the point of view of a ‘human’. To overcome these issues, we have sought to develop innovative and practical wearable systems by comprehensive research with human-centered design and control of the wearable systems; the wearable systems are developed from the point of view of a ‘human’ not a ‘robot’. Also, structures and mechanisms used by animals and plants have informed the development of wearable human-robot interaction systems, creating the discipline of biomimetic robot research.