A motion assistance apparatus, comprising: a proximal frame configured to support a proximal part of a user; a distal frame configured to support a distal part of the user; and an actuator acting selectively on a force transmitter connected to the proximal frame and rotatably connected to the distal frame, a connector connected rotatably at parallel rotation axes to the proximal frame and to the distal frame to resist separation of the distal frame from the proximal frame such that the distal frame rotates in a plane, while being in rolling contact with the proximal frame, wherein the proximal frame and the distal frame each comprises: two segment frames (11, 12; 21, 22); and a passive joint (13; 23) connecting the two segment frames (11, 12; 21, 22) such that a first one of the two segment frames (11, 12; 21, 22) rotates with respect to a second one of the two segment frames (12,11; 22, 21) in a direction that traverses the plane, to reduce space between the user and the motion assistance apparatus CHARACTERISED IN THAT the proximal frame further comprises: a guide on the proximal frame and configured to guide a movement, restrict a moving range and prevent a hyperextension of the force transmitter, to which end the force transmitter includes: a slider connected to the proximal frame though the actuator and slidably associated with the guide, wherein the slider is configured to be moved along the guide by the actuator; and a pusher having a first end and a second end, the first end and the second end of the pusher being rotatably connected to the slider and to the distal frame. a proximal frame configured to support a proximal part of a user; a distal frame configured to support a distal part of the user; and an actuator acting selectively on a force transmitter connected to the proximal frame and rotatably connected to the distal frame, a connector connected rotatably at parallel rotation axes to the proximal frame and to the distal frame to resist separation of the distal frame from the proximal frame such that the distal frame rotates in a plane, while being in rolling contact with the proximal frame, wherein the proximal frame and the distal frame each comprises: two segment frames (11, 12; 21, 22); and a passive joint (13; 23) connecting the two segment frames (11, 12; 21, 22) such that a first one of the two segment frames (11, 12; 21, 22) rotates with respect to a second one of the two segment frames (12,11; 22, 21) in a direction that traverses the plane, to reduce space between the user and the motion assistance apparatus two segment frames (11, 12; 21, 22); and a passive joint (13; 23) connecting the two segment frames (11, 12; 21, 22) such that a first one of the two segment frames (11, 12; 21, 22) rotates with respect to a second one of the two segment frames (12,11; 22, 21) in a direction that traverses the plane, to reduce space between the user and the motion assistance apparatus CHARACTERISED IN THAT the proximal frame further comprises: a guide on the proximal frame and configured to guide a movement, restrict a moving range and prevent a hyperextension of the force transmitter, to which end the force transmitter includes: a slider connected to the proximal frame though the actuator and slidably associated with the guide, wherein the slider is configured to be moved along the guide by the actuator; and a pusher having a first end and a second end, the first end and the second end of the pusher being rotatably connected to the slider and to the distal frame. a slider connected to the proximal frame though the actuator and slidably associated with the guide, wherein the slider is configured to be moved along the guide by the actuator; and a pusher having a first end and a second end, the first end and the second end of the pusher being rotatably connected to the slider and to the distal frame.