An exoskeleton for humans including a joint element that interacts directly or indirectly with a humans joint via an end-effector mount, wherein the end-effector mount is arranged to perform an arbitrary planar parallel movement in a plane, allowing superimposed translational and rotational movements of the end-effector mount relative to a body of the joint element. The exoskeleton allows for excellent adjustment of the joint axes, i.e. the exoskeletons and the humans joint, for effecting simultaneous translational and rotational movements. Particularly, the exoskeleton is self-aligning to the movements of a humans joint independent from differences in the attachment of the exoskeleton to the body and anatomical differences of the patients.
