A lower extremity exoskeleton (100), configurable to becoupled to a person, includes: leg supports (101, 102) configurable to becoupled to the person's lower limbs and designed to rest on the groundduring stance phases, with each leg support (101, 102) having a thigh link(104, 105) and a shank link (106, 107)； two knee joints (107, 108), eachconfigured to allow flexion and extension between respective shank (106,107) and thigh links (107, 108)； an exoskeleton trunk (109) configurableto be coupled to the person's upper body, rotatably connectable to thethigh links (107, 108) of the leg supports (101, 102), allowing for theflexion and extension between the leg supports (101, 102) and the exoskeletontrunk (109)； two hip actuators (145, 146) configured to create torquesbetween the exoskeleton trunk (109) and the leg supports (101, 102)； and atleast one power unit (201) capable of providing power to the hip actuators(145, 146). In use, power is supplied to the hip actuators (145, 146) in anamount to reduce the energy consumed by a user during a walking cycle.
