A lower extremity exoskeleton, configurable to be coupled to a person, said lower extremity exoskeleton, among other things, comprising: an exoskeleton trunk adapted to be coupled to an upper body of said user; first and second leg supports (101, 102) each including a respective thigh link (103, 104) rotatably connected to the exoskeleton trunk, wherein the first and second leg supports are adapted to be coupled to lower limbs of said user and to rest on the ground in a stance phase and to move relative to the ground in a swing phase; first and second hip actuators (145, 146) configured to create torques between said exoskeleton trunk and said first and second leg supports respectively; and at least one power unit, capable of providing power to said hip actuators, among other components, characterized in that, during each cycle of steady walking, said power unit is configured to activate said hip actuators in the following manner: a) when said first leg support enters the stance phase, said hip actuator of said first leg support rapidly creates a first unidirectional torque acting to move said first exoskeleton leg backwardly relative to said exoskeleton trunk and therefore pushing said exoskeleton trunk forwardly until said second leg support strikes the ground, and b) when said second leg support enters the stance phase, said hip actuator of said second leg support rapidly creates said first unidirectional torque and said hip actuator of said first leg support rapidly creates a second unidirectional torque acting in a direction to move said first leg support forwardly relative to said exoskeleton trunk until said first leg support leaves the ground. an exoskeleton trunk adapted to be coupled to an upper body of said user; first and second leg supports (101, 102) each including a respective thigh link (103, 104) rotatably connected to the exoskeleton trunk, wherein the first and second leg supports are adapted to be coupled to lower limbs of said user and to rest on the ground in a stance phase and to move relative to the ground in a swing phase; first and second hip actuators (145, 146) configured to create torques between said exoskeleton trunk and said first and second leg supports respectively; and at least one power unit, capable of providing power to said hip actuators, among other components, characterized in that, during each cycle of steady walking, said power unit is configured to activate said hip actuators in the following manner: a) when said first leg support enters the stance phase, said hip actuator of said first leg support rapidly creates a first unidirectional torque acting to move said first exoskeleton leg backwardly relative to said exoskeleton trunk and therefore pushing said exoskeleton trunk forwardly until said second leg support strikes the ground, and b) when said second leg support enters the stance phase, said hip actuator of said second leg support rapidly creates said first unidirectional torque and said hip actuator of said first leg support rapidly creates a second unidirectional torque acting in a direction to move said first leg support forwardly relative to said exoskeleton trunk until said first leg support leaves the ground. a) when said first leg support enters the stance phase, said hip actuator of said first leg support rapidly creates a first unidirectional torque acting to move said first exoskeleton leg backwardly relative to said exoskeleton trunk and therefore pushing said exoskeleton trunk forwardly until said second leg support strikes the ground, and b) when said second leg support enters the stance phase, said hip actuator of said second leg support rapidly creates said first unidirectional torque and said hip actuator of said first leg support rapidly creates a second unidirectional torque acting in a direction to move said first leg support forwardly relative to said exoskeleton trunk until said first leg support leaves the ground.