A slipper, to an exoskeleton, and to a method for using such a slipper is disclosed. The slipper includes means for attaching said slipper to a shoe or foot of a user, and a rigid sole for supporting the load to the ground that is hingeably connectable to the end of a leg of the exoskeleton. The attachment means are attached to and hinged about a pivoting axis secured to the rigid sole on the side of the distal end thereof, such as to enable the heel of the foot or the shoe of the user to rise from the rigid sole when walking.
