Linkage mechanism for physical multi-contact interaction

A linkage mechanism, coupled to a limb of a human including a second body articulated to a first body and a third body articulated to the second body, the linkage mechanism comprising:

• a plurality of link arms and a plurality of connection units for connecting the link arms to be adaptively movable according to a motion of the human;
• and
• an upper fixing portion and a lower fixing portion for fixing the linkage mechanism to the second body and the third body,
• wherein all or a part of the plurality of link arms are connected to each other to form a closed loop including the upper fixing portion and the lower fixing portion together with the second body and the third body,
• wherein actuators for generating power are provided to the plurality of connection units, and
• wherein the actuators are selectively operated to apply a force selectively to the upper fixing portion and the lower fixing portion.