This research addresses aspects of structural design, kinematic and dynamic analysis of novel bionic exoskeleton solutions for human leg motion assistance and rehabilitation. All these constructive solutions are powered by a single motor, located at the upper or middle level. A virtual model is developed for each of these designs, based on which a dynamic analysis is performed using ADAMS multibody system analysis software. The ovoid shape of the ankle joint trajectory is examined, along with the variation laws of the angles in the knee and hip joints. Finally, a comparison is made between the proposed design solutions to select the optimal structure that most accurately replicates human foot movement.