A lower extremity exoskeleton (100) includes: at least one power unit (201); two leg supports (101, 102) designed to rest on the ground (130); two knee joints (107, 108) configured to allow flexion and extension between respective shank (105, 106) and thigh links (103, 104) of the leg supports (101, 102); an exoskeleton trunk (109) rotatably connectable to the leg supports (101, 102); and two hip actuators (145, 146) configured to create torques between the exoskeleton trunk (109) and the leg supports (101, 102). In use, the hip actuators (145, 146) create a torque to move the leg supports (101, 102) backward relative to the exoskeleton trunk ( 109) during a stance phase, which pushes the exoskeleton trunk (109) forward. A second torque may be used to move the leg supports (101, 102) forward relative to the exoskeleton trunk (109) into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support (101, 102) forward relative to the exoskeleton trunk (109). This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton (100).

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