The Tube Empire sends Princess Ial as 'Mio' to survey the surface world. Mio then falls in love with Formula 1 racer Takeru, which is a no-no for the Tube. As punishment, Ial/Mio is imprisoned in a block of ice. Takeru, determined to find Mio, Takeru then joins Maskman, a group of martial artists who use 'Aura Power' under Commander Sugata's leadership against the Tube.