A lower limb exoskeleton (100), which can be configured to engage a person, said lower limb exoskeleton comprising, inter alia: a trunk (109) of the exoskeleton adapted to engage an upper body of said user； first and second leg supports (101, 102) each including a respective thigh link (103, 104) rotatably connected with the trunk of the exoskeleton, in which the first and second leg supports are adapted to engage the lower limbs of said user and to rest on the ground in a positioning phase and to move with respect to the ground in a balancing phase； first and second hip actuators (145, 146) configured to create torques between said trunk (109) of the exoskeleton and said first and second leg supports respectively； and at least one energy unit (201), capable of providing energy to said hip actuators, among other components, characterized in that, during each cycle of a regular march, said energy unit is configured to activate said hip actuators of as follows: a) when said first leg support enters the positioning phase, said hip actuator of said first leg support quickly creates a first unidirectional torque that acts to move said first leg of the exoskeleton backwards with respect to to said trunk of the exoskeleton and, therefore, pushing said trunk of the exoskeleton forward until said second leg support hits the ground, and b) when said second leg support enters the positioning phase, said hip actuator of said second leg support quickly creates said first unidirectional torque and said hip actuator of said first support d The leg quickly creates a second unidirectional torque that acts in one direction to move said first leg support forward with respect to said exoskeleton trunk until said first leg support leaves the ground.Un exoesqueleto (100) de extremidad inferior, que puede configurarse para acoplarse a una persona, comprendiendo dicho exoesqueleto de extremidad inferior, entre otras cosas: un tronco (109) del exoesqueleto adaptado para acoplarse a un cuerp
