In this paper we present aspects regarding the kinematic and dynamic analysis of an exoskeleton robotic system for assisting the locomotion of people with locomotor disabilities. Two solutions of monomobile mechanisms, based on pantograph-type kinematic chains, which are implemented in the structure of the exoskeleton legs, are presented. A comparative analysis of the movement of the two exoskeleton solutions is performed, when used to assist human locomotion. The movement of the virtual prototype is analyzed with the help of the ADAMS software for kinematic and dynamic analysis of multibody mobile mechanical systems. Based on this comparative analysis, the optimal solution from a kinematic point of view is chosen, for which a physical prototype is developed, based on additive manufacturing technology. In future studies, this developed prototype will undergo experimental tests.