A lower extremity exoskeleton, configurable to be coupled to a person, said lower extremity exoskeleton, among other things, comprising: two leg supports (101, 102) configurable to be coupled to said person's lower limbs (143, 144); an exoskeleton trunk configurable to be coupled to said person's upper body, rotatably connectable to said leg supports (101, 102), allowing for the flexion and extension between said leg supports (101, 102) and said exoskeleton trunk; at least one power unit; and means for detecting a stance phase; characterized in that: the lower extremity exoskeleton comprises at least one hip actuator (145, 146) coupled to each leg support (101, 102) and configured to create torque on leg support (101, 102); the at least one power unit is capable of providing power to said hip actuators; (145, 146); and when said lower extremity exoskeleton is worn by said person, said at least one power unit is configured to cause said hip actuator (145, 146) of said leg support (101, 102) coupled to person's lower limb (143, 144) in said stance phase to create a torque profile such that force from said lower extremity exoskeleton onto said person is along said person's forward velocity and mechanical energy is transferred to said person from said lower extremity exoskeleton during said stance phase, thereby reducing the wearer's energy required for locomotion during said stance phase. two leg supports (101, 102) configurable to be coupled to said person's lower limbs (143, 144); an exoskeleton trunk configurable to be coupled to said person's upper body, rotatably connectable to said leg supports (101, 102), allowing for the flexion and extension between said leg supports (101, 102) and said exoskeleton trunk; at least one power unit; and means for detecting a stance phase; characterized in that: the lower extremity exoskeleton comprises at least one hip actuator (145, 146) coupled to each leg support (101, 102) and configured to create torque on leg support (101, 102); the at least one power unit is capable of providing power to said hip actuators; (145, 146); and when said lower extremity exoskeleton is worn by said person, said at least one power unit is configured to cause said hip actuator (145, 146) of said leg support (101, 102) coupled to person's lower limb (143, 144) in said stance phase to create a torque profile such that force from said lower extremity exoskeleton onto said person is along said person's forward velocity and mechanical energy is transferred to said person from said lower extremity exoskeleton during said stance phase, thereby reducing the wearer's energy required for locomotion during said stance phase. the lower extremity exoskeleton comprises at least one hip actuator (145, 146) coupled to each leg support (101, 102) and configured to create torque on leg support (101, 102); the at least one power unit is capable of providing power to said hip actuators; (145, 146); and when said lower extremity exoskeleton is worn by said person, said at least one power unit is configured to cause said hip actuator (145, 146) of said leg support (101, 102) coupled to person's lower limb (143, 144) in said stance phase to create a torque profile such that force from said lower extremity exoskeleton onto said person is along said person's forward velocity and mechanical energy is transferred to said person from said lower extremity exoskeleton during said stance phase, thereby reducing the wearer's energy required for locomotion during said stance phase.