Powered exoskeleton joint comprising an actuation unit and at least one actuation arm mounted oscillatingly on said actuation unit, said actuation unit being configured to move said actuation arm oscillatingly around said joint, said actuation arm being coupled to the frame of an exoskeleton by means of a coupling system, said coupling system comprising two parts, one of which is integral with the actuation arm and the other integral with the exoskeleton frame, which parts are configured to be at least partially inserted into each other, so as to identify a male part and a female part, the male part passes from an inserted condition to an extracted condition, and vice-versa, with respect to the female part, the female part having tapered surfaces complementary to the external surfaces of a male end of the male part, said female part comprising at least one pin for locking the male part in the inserted condition and mounted translatable according to a direction incident to the insertion direction, which locking pin engages with a corresponding locking housing provided on the male part, the female part comprises an elastic element configured to keep the locking pin engaged when the male part is inserted inside the female part, there being an extraction element of the locking pin, configured to compress the elastic element, characterised in that the male end being configured in such a way that during the insertion of the male part into the female part, at least one outer surface of the male end is in contact with a corresponding tapered surface of the female part and in such a way that, during insertion, the male end causes the compression of the elastic element until the locking pin is at the locking housing. said actuation arm being coupled to the frame of an exoskeleton by means of a coupling system, said coupling system comprising two parts, one of which is integral with the actuation arm and the other integral with the exoskeleton frame, which parts are configured to be at least partially inserted into each other, so as to identify a male part and a female part, the male part passes from an inserted condition to an extracted condition, and vice-versa, with respect to the female part, the female part having tapered surfaces complementary to the external surfaces of a male end of the male part, said female part comprising at least one pin for locking the male part in the inserted condition and mounted translatable according to a direction incident to the insertion direction, which locking pin engages with a corresponding locking housing provided on the male part, the female part comprises an elastic element configured to keep the locking pin engaged when the male part is inserted inside the female part, there being an extraction element of the locking pin, configured to compress the elastic element, characterised in that the male end being configured in such a way that during the insertion of the male part into the female part, at least one outer surface of the male end is in contact with a corresponding tapered surface of the female part and in such a way that, during insertion, the male end causes the compression of the elastic element until the locking pin is at the locking housing.