An energy absorbing device suitable for wearing by humans, or for use in a prosthetic device or robot is provided. The device including support structures which may conform to the contours of limbs, and have the capability of being removeably attached to the limbs. Plates are attached, either fixedly or slideably, to the support structures and adjacent ends of plates may be joined with a flexible link. As the limbs flex at a joint, the slideably attached plate slides to accommodate the rotational motion between the limbs at the joint.