A bipedal exoskeleton configured to be worn by a human user. The exoskeleton includes a soft “backpack”-style harness that interfaces primarily with the users waist, back, and shoulders. A chassis is provided to mount two positively-driven legs. Each leg includes features that are analogous to a human leg—a hip joint, a thigh, a knee joint, a calf, and a foot plate. Each leg of the exoskeleton is physically connected to one of the human users legs. A thigh cuff is used to connect to the users thigh. A shin cuff is used to connect to the users calf. A foot plate rests beneath the sole of the users foot. Power actuators are provided in the exoskeletons hip and knee joints, and possibly additional locations. A user interface is provided in one or more locations so that the user can control desired functions of the exoskeleton.
