 Abstract— The purpose of this study is proposing the modeling for human-exoskeleton joint structure. The model of the exoskeleton human union implies a mechanical structure with cinematic constraints. Starting out from this model, we present some simulation tests, which allow analyze some human disabilities that may be presented in lower limbs. Finally, it is demonstrated how the use of our proposed mechanism for walking assistance, compensates mobility problems that may be presented in humans during the walking cycle.