Abstract <p>A solution to the simulation problem of telescoping-link dynamics with damping is proposed in this article. The stiffness of the link is variable and is controlled by magnetorheological fluid. The previously created models are updated. Currently, the geometrical dimensions of the top and the bottom rods are taken into account, as well as those of the cylinder, the cylinder covers, and the piston that moves inside the cylinder with magnetorheological fluid. The models also take into account their masses and the axial moments of inertia. The load at the end of the link due to its interaction with the other links of the mechanism is approximated by a uniform ball. The variation of the link mass and its moment of inertia in the process of the magnetorheological fluid movement between the two cylinder sections separated by the piston with channels is also taken into consideration. The proposed refinements improve the consistency of the mechanical model with the actual technical device. The functional and control models of the proposed telescopic link with damping for the next-generation exoskeletons with enhanced comfort are described. Solutions of the direct and inverse dynamics problems are presented.</p>