The invention relates to an exoskeleton including: a foot structure； a lower leg structure； a mechanical knee link having a pivot axis； and a mechanical ankle link connecting the foot structure to the lower leg structure and including a first pivot connection having a first pivot axis that is substantially parallel to the pivot axis of the mechanical knee link, and a second pivot connection having a second pivot axis that is perpendicular to the first pivot axis and forms an angle of between 30º and 60º with the support plane when the exoskeleton is upright and at rest.
