Embodiments of the methods and apparatus for attaching exoskeleton devices to a body include a harness apparatus for attaching an exoskeleton device to a limb. The harness apparatus may comprise a limb support, a support locking element, a support holder configured to define a space for receiving and securing the support locking element at least partially within the space, a connection element configured for connection to the exoskeleton device； and an articulation member configured to articulate with the connection element. Further, the apparatus may include a retaining element configured to retain the support locking element at least partially within the space. At least a portion of the limb support can include a curved portion configured to correspond to a curvature of a limb when adjacent the limb.
