A kinematic chain for assisting the movement of an anatomical articulation comprising at least one kinematic module (100,100a,100b,100c) comprising: - a frame having a first end and a second end comprising a profile P 0 ′ and a centre of rotation O 0 ′, said frame having a reference plane π 0 passing through said centre of rotation O 0 ′, said frame comprising a first engaging portion arranged to be connected to a proximal anatomical portion with respect to said articulation; - a number n of rotating elements (110, 120, 130), defined with index i = 1,..., n, each i-th rotating element having a first end (111, 121, 131), comprising a profile P i and a centre of rotation O i, and a second end (111', 121', 131'), comprising a profile P i ′ and a centre of rotation O i ′, each i -th rotating element having a reference plane π i passing through said centres of rotation O i and O i ′; - an elongated element having a first end comprising a profile P n +1 and a centre of rotation O n +1, said elongated element being constrained at one end element comprising a second engaging portion arranged to be connected to a distal anatomical portion with respect to said articulation; wherein said kinematic chain is configured in such a way that: - said reference plane π 0 is parallel to a reference plane π 1 and coplanar to a reference plane π 2; - for i = 1,..., n each reference plane π i is parallel to a reference plane π i +1 and coplanar to a reference plane π i +2; - the rotating element i = 1 is constrained to make a relative rotation θ 1 with respect to said frame about an axis passing through the centres of rotation O 1 and O 0 ′, said relative rotation θ 1 lying on a respective reference plane π 1; - for i = 1,..., n each rotating element i + 1 is constrained to make a relative rotation θ i +1 with respect to a rotating element i about an axis passing through the centres of rotation O i +1 and O i ′, said relative rotation θ i +1 lying on a respective reference plane π i +1; - said profile P 0 ′ contacts a profile P 2 at a point C 1 in such a way that O 0 ′ O 2 = O 1 O 1 ′ = r 0 ′ + r 2, where r 0 ′ = O 0 ′ C 1 and r 2 = O 2 C 1; - for i = 1,..., n - 1 each profile P i ′ contacts a profile P i +2 at a point C i +1 in such a way that O i ′ O i + 2 = O i + 1 O i + 1 ′ = r i ′ + r i + 2 = r i + 1 + r i + 1 ′, where r i ′ = O i ′ C i + 1 and r i = O i C i -1, r 1 excluded; and in that said contact between profiles P 0 ′, P i, P i ′ and P n +1 allows a transmission of a rotational movement without slipping between said frame, said rotating elements (110, 120, 130) and said elongated element, verifying the equation: θ i + 1 = θ i ∗ r i − 1 ′ r i + 1 with i = 1,..., n. - a frame having a first end and a second end comprising a profile P 0 ′ and a centre of rotation O 0 ′, said frame having a reference plane π 0 passing through said centre of rotation O 0 ′, said frame comprising a first engaging portion arranged to be connected to a proximal anatomical portion with respect to said articulation; - a number n of rotating elements (110, 120, 130), defined with index i = 1,..., n, each i-th rotating element having a first end (111, 121, 131), comprising a profile P i and a centre of rotation O i, and a second end (111', 121', 131'), comprising a profile P i ′ and a centre of rotation O i ′, each i -th rotating element having a reference plane π i passing through said centres of rotation O i and O i ′; - an elongated element having a first end comprising a profile P n +1 and a centre of rotation O n +1, said elongated element being constrained at one end element comprising a second engaging portion arranged to be connected to a distal anatomical portion with respect to said articulation; - said reference plane π 0 is parallel to a reference plane π 1 and coplanar to a reference plane π 2; - for i = 1,..., n each reference plane π i is parallel to a reference plane π i +1 and coplanar to a reference plane π i +2; - the rotating element i = 1 is constrained to make a relative rotation θ 1 with respect to said frame about an axis passing through the centres of rotation O 1 and O 0 ′, said relative rotation θ 1 lying on a respective reference plane π 1; - for i = 1,..., n each rotating element i + 1 is constrained to make a relative rotation θ i +1 with respect to a rotating element i about an axis passing through the centres of rotation O i +1 and O i ′, said relative rotation θ i +1 lying on a respective reference plane π i +1; - said profile P 0 ′ contacts a profile P 2 at a point C 1 in such a way that O 0 ′ O 2 = O 1 O 1 ′ = r 0 ′ + r 2, where r 0 ′ = O 0 ′ C 1 and r 2 = O 2 C 1; - for i = 1,..., n - 1 each profile P i ′ contacts a profile P i +2 at a point C i +1 in such a way that O i ′ O i + 2 = O i + 1 O i + 1 ′ = r i ′ + r i + 2 = r i + 1 + r i + 1 ′, where r i ′ = O i ′ C i + 1 and r i = O i C i -1, r 1 excluded;