A linking device for an exoskeleton structure comprising: - a support intended to be attached to a lumbar belt, - an input part mounted in rotation with respect to the support and capable of being connected to a mechanical back assembly of the exoskeleton structure, - a transmission device, - a first connecting link mounted in rotation with respect to the support, the first connecting link having a first end connected to the input part by means of the transmission device and a second end capable of being connected to a first hip joint of a first mechanical leg assembly of the exoskeleton structure, and - a second connecting link mounted in rotation with respect to the support, the second connecting link having a first end connected to the input part by means of the transmission device and a second end capable of being connected to a second hip joint of a second mechanical leg assembly of the exoskeleton structure, the transmission device being arranged so that: - when a load is applied to the input part tending to pivot the input part in a first direction of rotation with respect to the support, the transmission device transmits to the first connecting link a force tending to pivot the first connecting link to transfer the load to the first mechanical leg assembly and unload the second mechanical leg assembly of the exoskeleton structure, and - when a load is applied to the input part tending to pivot the input part in a second direction of rotation with respect to the support, opposite to the first direction of rotation, the transmission device transmits to the second connecting link a force tending to pivot the second connecting link to transfer the load to the second mechanical leg assembly and unload the first mechanical leg assembly of the exoskeleton structure. - a support intended to be attached to a lumbar belt, - an input part mounted in rotation with respect to the support and capable of being connected to a mechanical back assembly of the exoskeleton structure, - a transmission device, - a first connecting link mounted in rotation with respect to the support, the first connecting link having a first end connected to the input part by means of the transmission device and a second end capable of being connected to a first hip joint of a first mechanical leg assembly of the exoskeleton structure, and - a second connecting link mounted in rotation with respect to the support, the second connecting link having a first end connected to the input part by means of the transmission device and a second end capable of being connected to a second hip joint of a second mechanical leg assembly of the exoskeleton structure, - when a load is applied to the input part tending to pivot the input part in a first direction of rotation with respect to the support, the transmission device transmits to the first connecting link a force tending to pivot the first connecting link to transfer the load to the first mechanical leg assembly and unload the second mechanical leg assembly of the exoskeleton structure, and - when a load is applied to the input part tending to pivot the input part in a second direction of rotation with respect to the support, opposite to the first direction of rotation, the transmission device transmits to the second connecting link a force tending to pivot the second connecting link to transfer the load to the second mechanical leg assembly and unload the first mechanical leg assembly of the exoskeleton structure.