Disclosed herein is a leg exoskeleton configured to aid motion (e.g., walking) of a user in need thereof. In particular, the exoskeleton includes a belt configured to attach the exoskeleton to the waist of a user. The exoskeleton further includes a leg frame configured to attach to at least one leg of the user through a hip attachment mechanism on the belt. Finally, the exoskeleton includes an energy storage subsystem that is configured to store and release energy as the user walks, particularly aiding the user in the forward motion of the leg when walking. Methods of using the leg exoskeleton are also provided.
