This Paper describes the design of the ESA Human Arm Exoskeleton, which has been developed to enable force-feedback telemanipulations with redundant robotic arms. It is described, how several shortcomings of previous telemanipulation systems were eradicated, to meet the system requirements for a lightweight, easy wearable and comfortable system. The patented novelties towards prior arm exoskeletons are enlightened, and the methodology is shown, according to which the system was designed. The prototype, which has been developed at ESTEC is described in detail, outlining the special features of the design.