The Human Support Technology Division was established in the Robotics Department October 1, 1994 to strengthen research on assistive technology in the Mechanical Engineering Laboratory. Six researchers gathered from Robotics and other departments. Half a year later, one was promoted to director of the Department of Energy Engineering. Five now carry on, including one part-timer. Our aim is to realize novel mechanisms and control, and to build small, light, powerful mechatronic systems. Improved maneuverability and safety of the human support system and standardization based on ergonomics are also important targets. We are thus conducting the four following projects: