A backhoe linkage mechanism for rotating an output link around an output axis of rotation of an output joint at a base, the backhoe linkage mechanism comprising: a first closed kinematic chain that includes the output link, a connecting link, and an input link; wherein the output link is connected via the output joint to the base, and is connected via a connecting joint to the connecting link; wherein the connecting link is connected via a bridging joint to the input link; wherein the first closed kinematic chain additionally includes a base link that is connected via a base joint to the base, and that is connected via an input joint to the input link; wherein the backhoe linkage mechanism further comprises one or more additional closed kinematic chains (La, Lb, Lc) connected successively in a series after the first closed kinematic chain, each additional closed kinematic chain (La, Lb, Lc) including: a base link (8, 8a, 8b) of a previous closed kinematic chain (L0, La, Lb); an input link (12, 12a, 12b) of the previous closed kinematic chain (L0, La, Lb); an additional connecting link (14a, 14b, 14c) connected to the previous closed kinematic chain (L0, La, Lb); an additional input link (12a, 12b, 12c); and a kinematic connection (30a, 30b, 30c) between the closed kinematic chain (La, Lb, Lc) and the previous closed kinematic chain (L0, La, Lb); wherein the additional connecting link (14a, 14b, 14c) and the kinematic connection (30a, 30b, 30c) are connected to the previous closed kinematic chain (L0, La, Lb) such that actuation of the additional closed kinematic chain (La, Lb, Lc) amplifies an angle of rotation of the output link around the output axis of rotation, and wherein the output link and the input link of the first closed kinematic chain are arranged to rotate relative to the base link of the first closed kinematic chain. a first closed kinematic chain that includes the output link, a connecting link, and an input link; wherein the output link is connected via the output joint to the base, and is connected via a connecting joint to the connecting link; wherein the connecting link is connected via a bridging joint to the input link; wherein the first closed kinematic chain additionally includes a base link that is connected via a base joint to the base, and that is connected via an input joint to the input link; wherein the backhoe linkage mechanism further comprises one or more additional closed kinematic chains (La, Lb, Lc) connected successively in a series after the first closed kinematic chain, each additional closed kinematic chain (La, Lb, Lc) including: a base link (8, 8a, 8b) of a previous closed kinematic chain (L0, La, Lb); an input link (12, 12a, 12b) of the previous closed kinematic chain (L0, La, Lb); an additional connecting link (14a, 14b, 14c) connected to the previous closed kinematic chain (L0, La, Lb); an additional input link (12a, 12b, 12c); and a kinematic connection (30a, 30b, 30c) between the closed kinematic chain (La, Lb, Lc) and the previous closed kinematic chain (L0, La, Lb); a base link (8, 8a, 8b) of a previous closed kinematic chain (L0, La, Lb); an input link (12, 12a, 12b) of the previous closed kinematic chain (L0, La, Lb); an additional connecting link (14a, 14b, 14c) connected to the previous closed kinematic chain (L0, La, Lb); an additional input link (12a, 12b, 12c); and a kinematic connection (30a, 30b, 30c) between the closed kinematic chain (La, Lb, Lc) and the previous closed kinematic chain (L0, La, Lb);