A lower body exoskeleton, comprising: a first joint having an axis of rotation, and defining a degree of freedom corresponding to a degree of freedom of a hip medial/lateral rotation of a human leg; first and second support members (110c, 110d) associated with the first joint; a second joint having an axis of rotation, and defining a degree of freedom corresponding to a degree of freedom of an ankle medial/lateral rotation of the human leg; third and fourth support members (110e, 110f) rotatable relative to one another, and associated with the second joint; and characterized in that in use: a first parasagittal plane (105, 105') through the human leg intersects the first joint and a second parasagittal plane (105, 105') through the human leg intersects the second joint, such that the first joint and the second joint are each located in one of a forward oriented or a rearward oriented position relative to the human leg in the respective first and second parasagittal planes (105, 105'), to minimize a gravity-induced moment on each of the first joint and the second joint during operation of the exoskeleton, and the axis of rotation (112c, 112e) of each of the first and second joints (111c, 111e) is located in one of a forward oriented or rearward orientated position relative to the human leg. a first joint having an axis of rotation, and defining a degree of freedom corresponding to a degree of freedom of a hip medial/lateral rotation of a human leg; first and second support members (110c, 110d) associated with the first joint; a second joint having an axis of rotation, and defining a degree of freedom corresponding to a degree of freedom of an ankle medial/lateral rotation of the human leg; third and fourth support members (110e, 110f) rotatable relative to one another, and associated with the second joint; and characterized in that in use: a first parasagittal plane (105, 105') through the human leg intersects the first joint and a second parasagittal plane (105, 105') through the human leg intersects the second joint, such that the first joint and the second joint are each located in one of a forward oriented or a rearward oriented position relative to the human leg in the respective first and second parasagittal planes (105, 105'), to minimize a gravity-induced moment on each of the first joint and the second joint during operation of the exoskeleton, and the axis of rotation (112c, 112e) of each of the first and second joints (111c, 111e) is located in one of a forward oriented or rearward orientated position relative to the human leg. a first parasagittal plane (105, 105') through the human leg intersects the first joint and a second parasagittal plane (105, 105') through the human leg intersects the second joint, such that the first joint and the second joint are each located in one of a forward oriented or a rearward oriented position relative to the human leg in the respective first and second parasagittal planes (105, 105'), to minimize a gravity-induced moment on each of the first joint and the second joint during operation of the exoskeleton, and the axis of rotation (112c, 112e) of each of the first and second joints (111c, 111e) is located in one of a forward oriented or rearward orientated position relative to the human leg.