In　recent　years,　multiple　powered　exoskeletons,　typically　focused　on　one-DOF　(degree　of　freedom)　flexion/extension　assistance,　have　been　developed　to　aid　the　elderly　or　patients　with　hip　motion　disability.　To　achieve　two-DOF　adduction/abduction　and　flexion/extension　assistance,　a　novel　parallel　hip-assistive　mechanism　was　proposed,　consisting　of　a　waist　unit,　a　leg　unit　and　two　parallel　driving　branches.　As　the　mechanism　is　connected　to　the　human　hip,　a　human-robot　closed　chain　with　three　parallel　branches　is　formed.　The　structure　of　the　parallel　assistive　mechanism,　featuring　a　bearing-like　leg　unit　prototype　to　remove　the　restriction　on　hip　internal/external　rotation,　was　introduced.　Subsequently,　the　mobility　assessment　of　the　human-robot　closed　chain,　the　position　solution　of　the　assistive　mechanism　and　the　test　approach　of　branch　interference　were　addressed,　with　the　assumption　that　the　flexible　distortions　of　human　bodies　are　negligible.　Finally,　the　joint　motion　ranges　and　branch　interference　of　the　mechanism　were　analyzed,　throughout　a　hip　gait　cycle.　Obtained　results　indicated　that　the　joint　motion　ranges　are　small,　with　no　apparent　branch　interference,　meaning　that　the　proposed　parallel　mechanism　can　successfully　assist　the　operation　of　the　hip.　Consequently,　these　results　could　be　used　as　original　design　parameters　of　the　assistive　mechanism.　(C)　2017　Elsevier　Ltd.　All　rights　reserved.