Articulation device for an exoskeleton for the technical realization of complex rotatory movements, comprising: a first articulation element; a second articulation element; and a damping device; wherein the first articulation element and the second articulation element have a common coupling, wherein the coupling has at least a first rotational degree of freedom and a translational degree of freedom, wherein the damping device is arranged between the first articulation element and the second articulation element in such a way that it damps the translational degree of freedom more than the rotational degree of freedom, wherein the first articulation element comprises an articular capsule with an inwardly directed coupling surface and the second articulation element comprises an outwardly directed coupling surface, wherein the outwardly directed coupling surface of the second articulation element lies within the articular capsule of the first articulation element, wherein at least a part of the damping device is arranged between the inwardly directed coupling surface of the first articulation element and the outwardly directed coupling surface of the second articulation element characterized in that the second articulation element comprises an articular capsule with the outwardly directed coupling surface, wherein the articular capsule of the first articulation element and the articular capsule of the second articulation element are arranged concentrically to one another and are spaced apart from one another on all sides by the damping device, wherein the damping device damps a second rotational degree of freedom and a third rotational degree of freedom, as well as the first translational degree of freedom and a second translational degree of freedom and a third translational degree of freedom. a first articulation element; a second articulation element; and a damping device; wherein the first articulation element and the second articulation element have a common coupling, wherein the coupling has at least a first rotational degree of freedom and a translational degree of freedom, wherein the damping device is arranged between the first articulation element and the second articulation element in such a way that it damps the translational degree of freedom more than the rotational degree of freedom, wherein the first articulation element comprises an articular capsule with an inwardly directed coupling surface and the second articulation element comprises an outwardly directed coupling surface, wherein the outwardly directed coupling surface of the second articulation element lies within the articular capsule of the first articulation element, wherein at least a part of the damping device is arranged between the inwardly directed coupling surface of the first articulation element and the outwardly directed coupling surface of the second articulation element characterized in that the second articulation element comprises an articular capsule with the outwardly directed coupling surface, wherein the articular capsule of the first articulation element and the articular capsule of the second articulation element are arranged concentrically to one another and are spaced apart from one another on all sides by the damping device, wherein the damping device damps a second rotational degree of freedom and a third rotational degree of freedom, as well as the first translational degree of freedom and a second translational degree of freedom and a third translational degree of freedom.