A device for attachement to a body comprises a sensing body link (126) and a non-sensing body link (138) connected with at least one sensing body joint. Means (102) for applying a force to the sensing body link and a moment to the sensing body joint are provided, the force being generated by a device (106) connected to the force-applying means (102) with a tendon (124) guided in a groove. A moment-augmenting structure for augmenting the moment may comprise two elements (102, 122) connected by an articulated link (132).
