I really think a full MCP suit is the way to go with Mars. You might get by using a Hard Suit or hybrid on the Moon, but Mars has just to much gravity. The September '03 BIS Spaceflight has an article by Adam Hawkey in the back about walking on Mars and it is very revealing of the problems we would encounter there. It would seem if he is right a running or loping gait will be the preferred locomotion. This would seem to require more flexation in the hips, knees and ankles than the current spacesuit designs for Mars give you.

The problem right now with a MCP suit is convincing the folks at NASA and at universities that research in that direction is really needed. Nobody will go for something which has only be thru a couple of "proof of concept" tests. We need a full suit that addresses the issue over sizing, comfort and fit (fit over time) and loss of contact resulting in edema around the privates and arm pits... This may require a hybrid gas pressure and a MCP suit or of all three suit types.

And now I will get down off my soapbox...8-)