A force regulator assembly, comprising a. a main assembly, comprising i. a base support, ii. one or more links (1.A.1, 1.A.2, 1.A.3, 1.A.4) wherein at least one is connected to the base support, said one or more links (1.A.1, 1.A.2, 1.A.3, 1.A.4) being arranged to move in at least two degrees of freedom, b. an assistive assembly comprising i. an assistive base support (3.G.1), ii. one or more assistive links (3.A.1, 3.A.2, 3.A.3, 3.A.4) wherein at least one is connected to the base assistive support, one or more assistive links (3.A.1, 3.A.2, 3.A.3, 3.A.4) being arranged to move in at least two degrees of freedom, iii. one or more force regulator units (3.E.1, 3.E.2), comprising an energy storage unit, connected through a force transmission unit to an assistive link (3.A.1, 3.A.2, 3.A.3, 3.A.4), c. a mechanical, unpowered connection between the main and assistive assemblies (1, 3), i. wherein the assistive is arranged so that this connection results in the assistive assembly being a representation of the main assembly, in that forces in the main assembly result in forces in the assistive assembly and the other way around, so that as a consequence the potential displacement of the main assembly resulting from these forces also leads to a displacement of the assistive assembly, and the other way around; ii. wherein the assistive assembly is arranged so that this connection results in that the forces experienced by the link (1.A.1, 1.A.2, 1.A.3, 1.A.4) in the main assembly in one degree of freedom are a function of the position of the links (1.A.1, 1.A.2, 1.A.3, 1.A.4) in the one or more of the other degrees of freedom, which makes it possible to apply desired compensation forces, provided by the force regulator units, based on said functions; and characterized in that mechanical switches are present that is configured to alter the force applied by the force regulator units and/or the connection point of the force regulators to the assistive assembly. a. a main assembly, comprising i. a base support, ii. one or more links (1.A.1, 1.A.2, 1.A.3, 1.A.4) wherein at least one is connected to the base support, said one or more links (1.A.1, 1.A.2, 1.A.3, 1.A.4) being arranged to move in at least two degrees of freedom, i. a base support, ii. one or more links (1.A.1, 1.A.2, 1.A.3, 1.A.4) wherein at least one is connected to the base support, said one or more links (1.A.1, 1.A.2, 1.A.3, 1.A.4) being arranged to move in at least two degrees of freedom, b. an assistive assembly comprising i. an assistive base support (3.G.1), ii. one or more assistive links (3.A.1, 3.A.2, 3.A.3, 3.A.4) wherein at least one is connected to the base assistive support, one or more assistive links (3.A.1, 3.A.2, 3.A.3, 3.A.4) being arranged to move in at least two degrees of freedom, iii. one or more force regulator units (3.E.1, 3.E.2), comprising an energy storage unit, connected through a force transmission unit to an assistive link (3.A.1, 3.A.2, 3.A.3, 3.A.4), i. an assistive base support (3.G.1), ii. one or more assistive links (3.A.1, 3.A.2, 3.A.3, 3.A.4) wherein at least one is connected to the base assistive support, one or more assistive links (3.A.1, 3.A.2, 3.A.3, 3.A.4) being arranged to move in at least two degrees of freedom, iii. one or more force regulator units (3.E.1, 3.E.2), comprising an energy storage unit, connected through a force transmission unit to an assistive link (3.A.1, 3.A.2, 3.A.3, 3.A.4), c. a mechanical, unpowered connection between the main and assistive assemblies (1, 3), i. wherein the assistive is arranged so that this connection results in the assistive assembly being a representation of the main assembly, in that forces in the main assembly result in forces in the assistive assembly and the other way around, so that as a consequence the potential displacement of the main assembly resulting from these forces also leads to a displacement of the assistive assembly, and the other way around; ii. wherein the assistive assembly is arranged so that this connection results in that the forces experienced by the link (1.A.1, 1.A.2, 1.A.3, 1.A.4) in the main assembly in one degree of freedom are a function of the position of the links (1.A.1, 1.A.2, 1.A.3, 1.A.4) in the one or more of the other degrees of freedom, which makes it possible to apply desired compensation forces, provided by the force regulator units, based on said functions; and i. wherein the assistive is arranged so that this connection results in the assistive assembly being a representation of the main assembly, in that forces in the main assembly result in forces in the assistive assembly and the other way around, so that as a consequence the potential displacement of the main assembly resulting from these forces also leads to a displacement of the assistive assembly, and the other way around; ii. wherein the assistive assembly is arranged so that this connection results in that the forces experienced by the link (1.A.1, 1.A.2, 1.A.3, 1.A.4) in the main assembly in one degree of freedom are a function of the position of the links (1.A.1, 1.A.2, 1.A.3, 1.A.4) in the one or more of the other degrees of freedom, which makes it possible to apply desired compensation forces, provided by the force regulator units, based on said functions; and