An exoskeleton (100) of lower limbs, configurable to be coupled to a person, comprising said exoskeleton (100) of lower extremities, among other things: two supports (101, 102) for the legs configurable to be coupled to the members ( 143, 144) lower of said person； a trunk (109) of the configurable exoskeleton to be coupled to the upper part of the body (149) of said person, capable of pivotally joining said leg supports (101, 102), which allow extension and flexion between said supports (101, 102) for the legs and said trunk (109) exoskeleton； at least one unit (201) of power； and means to detect a support phase； characterized in that: the lower limb exoskeleton (100) comprises at least one hip actuator (145, 146) coupled to each leg support (101, 102) and configured to create a torque on the supports (101, 102 ) for the legs； the at least one power unit (201) is capable of providing power to said hip actuators； (145, 146)； and when said lower limb exoskeleton (100) is used by said person, said at least one power unit (201) is configured to cause said hip actuators (145, 146) of said supports (101, 102) to the legs coupled to the lower members (143, 144) of the person in said support phase to create a torque profile in such a way that the force from said exoskeleton (100) of the lower extremities towards said person is to along the forward speed of said person and mechanical energy is transferred to said person from said exoskeleton (100) of the lower extremities during said support phase, thereby reducing the energy required by the wearer for locomotion during said phase support.Un exoesqueleto (100) de extremidades inferiores, configurable para ser acoplado a una persona, que comprende dicho exoesqueleto (100) de extremidades inferiores, entre otras cosas: dos soportes (101, 102) para las piernas configurables para ser acoplados a los miembros (143, 144) inferiores de dicha persona； un tronco (109) del exoesqueleto configurable para ser acoplado a la parte superi
