For years, crane, a chain block, an elevator and a forklift truck have been developed and used to carry heavy loads, but manpower needed where heavy equipment use is not practical. Aging workers suffer from musculoskeletal disorders, and are helped by developing various muscle assisting wearable robots. Industrial wearable robots must meet the payload capacity required for the pilot"s overall operation to ensure safety and operational performance. However, the payload capacity of wearable robot using rotary actuator or linear actuator at the knee joint decreases dramatically in the knee-flexion posture, with reduced moment arms. To solve this problem, the author recommends using Single Acting Hydraulic Telescopic Cylinder Electro Hydrostatic Actuator (SAT-EHA) to increase the torque of the knee in the knee flexion position. The characteristic of telescopic cylinder is high speed in 1st stage and high force in 2nd stage. The Human Universal Mobility Assist-Hybrid (HUMA-H) was developed by designing and fabricating the waist joint to balance the front and rear directions using an electric motor driver. As the payload capacity increases, the robot pilots can squat and stand up with heavy loads. The performance was verified through the operation test and respiratory gas analysis test of the manufactured HUMA-H.