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Body armor was rare, and doubtless expensive, and, it seems, many warriors, even by preference, went into battle nude, save for helmet and shield. - (Swordsmen of Gor, Chapter 18, Sentence #140)

I have never understood, perfectly, why this was so, but there are two major theories, which I might mention. The first theory would seem to presuppose a historical origin, though perhaps one rather idiosyncratic. In ancient times, on Earth, surely in the Homeric era, at least, it seems the defensive accouterments of the warrior often consisted of a helmet and shield, and the offensive accouterments of a sword and spear. Body armor was rare, and doubtless expensive, and, it seems, many warriors, even by preference, went into battle nude, save for helmet and shield. One gathers this from ancient sculpture, if from no other source. The most likely explanation for this, if it is true, as it seems to be, would presumably be to lighten and free the body to the greatest extent possible for great exertion and quick movement. Even much later Gauls encountered by Caesar's legions, at least occasionally, seem to have gone into battle with little but a golden neck band, these being prized as loot by victorious legionnaires. - (Swordsmen of Gor)