A pivot or hinge structure integrated into the main body of an exoskeletal, e.g. orthotic device is described as well as methods for computer aided designing and making of these devices. Computer systems and software for carrying out the methods are also described. The integrated pivot or hinge structure has a specified axis of rotation, such as one coinciding or approximating with the natural rotation axis of the ankle, knee, elbow or any other relevant joint. Preferably the pivot or hinged structure is provided with a personalised resistance to rotation. The pivot or hinge structure is a pivot or hinge comprising at least two separate cylindrical parts that rotate with respect to each other, the axis of rotation being at the centre of the cylinder. The pivot or hinge can be placed to the optimal location and orientation in regard to the limb or anatomical features observed or measured from the patient thanks to the layered manufacturing technique. The range of motion can be structurally limited if needed. This enables more possibilities for adjustment when the exoskeletal device, e.g. orthotic device is fitted to the patient to ensure a better fit and functionality.

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