A medial unilateral exoskeleton configured to abut lower limbs from the inner side, the exoskeleton comprising: a medial hip joint comprising hip plates (14a, 14b) and hip pulleys (13a, 13b); a plurality of actuation cables (11a, 11b); orthoses (3a, 3b) suitable for a right and a left lower limb of a person, the orthoses are coupled to the medial hip joint and each of the orthoses comprising an ankle joint (2a, 2b) having a replaceable stirrup with a shoe or a shoe insert, a stirrup coupling, an ankle joint body and a guide pulley (25, 68), wherein each of the hip pulleys (13a, 13b) is coupled to a respective ankle joint (2a, 2b) by at least one actuation cable (11a, 11b) of the plurality of actuation cables so that each actuation cable is on one end attached to one of the hip pulleys (13a, 13b) and on a second end attached to the stirrup coupling of the respective ankle joint, wherein the replaceable stirrup is pivotably connected to the ankle joint body via the stirrup coupling, wherein the guide pulley is coupled to the ankle joint body and configured to support and direct a respective actuation cable of the plurality of actuation cables to the stirrup coupling, wherein each of the actuation cables is configured to convey a movement of the hip pulley to the respective ankle joint via the stirrup coupling and pivot the respective replaceable stirrup in a first direction, wherein each of the orthoses further comprises at least one elastic member having a one end coupled to the ankle joint body and a second end coupled to the stirrup coupling, wherein the at least one elastic member is adapted to act in a second direction opposite to the first direction caused by the movement conveyed by the respective actuation cable. a medial hip joint comprising hip plates (14a, 14b) and hip pulleys (13a, 13b); a plurality of actuation cables (11a, 11b); orthoses (3a, 3b) suitable for a right and a left lower limb of a person, the orthoses are coupled to the medial hip joint and each of the orthoses comprising an ankle joint (2a, 2b) having a replaceable stirrup with a shoe or a shoe insert, a stirrup coupling, an ankle joint body and a guide pulley (25, 68), wherein each of the hip pulleys (13a, 13b) is coupled to a respective ankle joint (2a, 2b) by at least one actuation cable (11a, 11b) of the plurality of actuation cables so that each actuation cable is on one end attached to one of the hip pulleys (13a, 13b) and on a second end attached to the stirrup coupling of the respective ankle joint, wherein the replaceable stirrup is pivotably connected to the ankle joint body via the stirrup coupling, wherein the guide pulley is coupled to the ankle joint body and configured to support and direct a respective actuation cable of the plurality of actuation cables to the stirrup coupling, wherein each of the actuation cables is configured to convey a movement of the hip pulley to the respective ankle joint via the stirrup coupling and pivot the respective replaceable stirrup in a first direction, wherein each of the orthoses further comprises at least one elastic member having a one end coupled to the ankle joint body and a second end coupled to the stirrup coupling, wherein the at least one elastic member is adapted to act in a second direction opposite to the first direction caused by the movement conveyed by the respective actuation cable.