He was the original batman in the old tv show. The guy who played Robin went on to produce and direct porn. He wrote a book about how the show had all these groupies and they got laid endlessly. Wearing tights fully paid off for the dynamic duo.
Trailers lie. Want to know if it's healthy? Watch it.
Every ecchi scene that doesn't say Mio is perfectly explainable.
It's an anime where girls defy the laws of physics fighting with their butts. It doesn't take itself seriously enough to make retarded weeaboos horny. Or anybody, for that matter.
It is healthy.