A method for actuating a mechanism (10a,10c,11,81,90), said mechanism having a predetermined number of degrees of freedom, said mechanism comprising a plurality of revolute joints, each revolute joint having a rotation axis, said mechanism (10a,10c,11,81,90) connected to a first rigid link and a second rigid link, and said mechanism (10a,10c,11,81,90) adapted to impose a prefixed relative movement between said first rigid link and said second rigid link, said method comprising the steps of: - selecting a subset of one or more revolute joint/s (37a-e, 47b-c) among said plurality of revolute joints of said mechanism (10a,-10c,11,81,90); - rotatably arranging respective idle pulleys (32a-e, 42a-f) about the axis of said revolute joint/s (37a-e, 47b-c) of said subset; - arranging an inextensible cable (33,43) according to a prefixed routing, said routing extending between a traction point (34,44) on said cable upstream of said first idle pulley (32a, 42a) and a terminal point (36,46) fixed on one of said links (3,5) or on said mechanism (10a,10c,11,81,90); and said routing comprising respective contact arcs of said inextensible cable (33,43) about said idle pulleys (32a-e, 42a-f); characterized in that the number of idle pulleys (32a-e, 42a-f) that are arranged at said revolute joint/s (37a-e, 47b-c) of said subset is greater than the number of said degree/s of freedom and in that said routing is configured in such a way that for a given movement of said mechanism (10a,10c,11,81,90) all said contact arcs increase in length, or they all decrease in length, such that by pulling said inextensible cable (33,43) at said traction point (34,44) a multiplied torque is produced at each idle pulley, said multiplied torque being the sum of singular torques produced by said inextensible cable (33,43), said multiplied torque causing a relative movement between said links (3,5). - selecting a subset of one or more revolute joint/s (37a-e, 47b-c) among said plurality of revolute joints of said mechanism (10a,-10c,11,81,90); - rotatably arranging respective idle pulleys (32a-e, 42a-f) about the axis of said revolute joint/s (37a-e, 47b-c) of said subset; - arranging an inextensible cable (33,43) according to a prefixed routing, said routing extending between a traction point (34,44) on said cable upstream of said first idle pulley (32a, 42a) and a terminal point (36,46) fixed on one of said links (3,5) or on said mechanism (10a,10c,11,81,90); and said routing comprising respective contact arcs of said inextensible cable (33,43) about said idle pulleys (32a-e, 42a-f); characterized in that the number of idle pulleys (32a-e, 42a-f) that are arranged at said revolute joint/s (37a-e, 47b-c) of said subset is greater than the number of said degree/s of freedom and in that said routing is configured in such a way that for a given movement of said mechanism (10a,10c,11,81,90) all said contact arcs increase in length, or they all decrease in length, such that by pulling said inextensible cable (33,43) at said traction point (34,44) a multiplied torque is produced at each idle pulley, said multiplied torque being the sum of singular torques produced by said inextensible cable (33,43), said multiplied torque causing a relative movement between said links (3,5).