An adjustable force exoskeleton hip joint system. The system includes a hip joint. The hip joint includes a first member rotatable about a hip joint rotation axis, the first member configured to be coupled to one of a lower body link or an upper body link. The hip joint further includes a second member rotatable about the hip joint rotation axis, the second member configured to be coupled to the other of the lower body link or the upper body link. The system further includes an adjustable force mechanism coupled to at least one of the first member and the second member. The adjustable force mechanism includes an actuator coupled to the first member, the actuator comprising a motor configured to selectively apply an adjustable force to the second member to inhibit rotation of the first member with respect to the second member.
