Palanquin
This is a covered litter – essentially an enclosed chair or couch suspended between poles which is carried by at least two humans, while they walk. It’s either carried on the shoulders, or by hand at the waist.
Historically, it was used to carry people of importance in Eastern Asia.
Why I Looked It Up
It came up a lot in Shogun.
I also remember one from a scene in the movie The Painted Veil.