A leg manipulation system, comprising: a cable driven mechanism with a first adapter configured to be positioned on a body part of the subject, the first adapter having extensions for attachment of a plurality of cables therefrom, the extensions holding the cables in a position away from a joint of the body part so that the cables are not in contact with the joint or a remainder of the body part and wherein moments are applied to the body part responsively to tension applied by a cable tension controller configured to control the tension in each of the plurality of cables; and a plurality of sensors (326, 329) configured to generate sensor data indicating angles of movement of different segments of the body part during a target movement thereof; wherein the cable tension controller is configured to compute a computed body part trajectory responsive to the sensor data, the cable tension controller being further configured to compare the computed body part trajectory with a predefined trajectory and to calculate command data for commanding selected respective tensions in the plurality of cables responsive to said comparison; the cable tension controller being programmed to control the plurality of cables to achieve the selected tension in each cable to generate torques in the body part to urge the body part toward the predefined trajectory; characterized in that: the extensions holding the cables in a position away from a joint of the body part such that selective moments are applied to the body part responsively to the tension applied by the cable tension controller, and the tension of the plurality of cables is converted to moments by the joints of the subject without support of external joints. a cable driven mechanism with a first adapter configured to be positioned on a body part of the subject, the first adapter having extensions for attachment of a plurality of cables therefrom, the extensions holding the cables in a position away from a joint of the body part so that the cables are not in contact with the joint or a remainder of the body part and wherein moments are applied to the body part responsively to tension applied by a cable tension controller configured to control the tension in each of the plurality of cables; and a plurality of sensors (326, 329) configured to generate sensor data indicating angles of movement of different segments of the body part during a target movement thereof; wherein the cable tension controller is configured to compute a computed body part trajectory responsive to the sensor data, the cable tension controller being further configured to compare the computed body part trajectory with a predefined trajectory and to calculate command data for commanding selected respective tensions in the plurality of cables responsive to said comparison; the cable tension controller being programmed to control the plurality of cables to achieve the selected tension in each cable to generate torques in the body part to urge the body part toward the predefined trajectory; characterized in that: the extensions holding the cables in a position away from a joint of the body part such that selective moments are applied to the body part responsively to the tension applied by the cable tension controller, and the tension of the plurality of cables is converted to moments by the joints of the subject without support of external joints. the extensions holding the cables in a position away from a joint of the body part such that selective moments are applied to the body part responsively to the tension applied by the cable tension controller, and the tension of the plurality of cables is converted to moments by the joints of the subject without support of external joints.