A lower extremity exoskeleton (100), configurable to becoupled to a person, includes two leg supports (101, 102) configurable tobe coupled to the person's lower limbs, an exoskeleton trunk (109)configurableto be coupled to the person's upper body, which is rotatably connectableto the thigh links (103, 104) of the leg supports (101, 102) allowingfor the flexion and extension between the leg supports (101, 102) andthe exoskeleton trunk (100), two hip actuators ( 145, 146) configured tocreate torques between the exoskeleion trunk (109) and the leg supports(101, 102), and at least one power unit (201) capable of providing powerto the hip actuators (145, 146) wherein the power unit (201) is configuredto cause the hip actuator (145, 146) of the leg support (101, 102) in theswing phase to create a torque profile such that force from the exoskeletonleg support (101, 102) onto the person's lower limb during at least a portionof the swing phase is in the direction of the person's lower limb swingvelocity.
