A full parallel mechanism is suggested as a base construction for an exoske-leton to implement complex movement of body parts of the human relativ to each other. The optimal design of such a structure for a thigh is presented. The positions of the connection points of the linear actuators to the moving platform were chosen as design parameters. The calculation of these design parameters was perform numericaly. The results show that the designed parallel mechanism allows arbitrary motion of the thigh in a workspace of the mechanism which is large enough not only for walking but also for more complex movements like sitting down on a chair and standing up.

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