Wearable lower extremity exoskeleton

A wearable lower extremity exoskeleton having a self-balancing capability, comprising:

• a back-hip support aligned with a hip level of a user in at least a standing position where the user wears the wearable lower extremity exoskeleton and remained standing;
• two legs, wherein each of the two legs is rotatably connected to a side hip link of at least two side hip links via at least one thigh articulation;
• wherein each of the two legs comprises a thigh link of thigh links, wherein a first end of the thigh link is rotatably connected to the side hip link, a second end of the thigh link is rotatably connected to a shank link of shank links via at least one shank articulation and a foot plate of foot plates rotatably connected to the shank link via at least one foot articulation;
• at least one first actuator providing a first rotational motion to the back-hip support and side hip links of the at least two side hip links in a coronal plane via a first actuation transfer means for supporting the user in a hip adduction and abduction;
• at least one second actuator providing a second rotational motion to the side hip links of the at least two side hip links and the thigh links in a sagittal plane via a second actuation transfer means for supporting the user in a hip flexion and extension;
• at least one third actuator providing a third rotational motion to the thigh links and the shank links in the sagittal plane via a third actuation transfer means for supporting the user in a knee flexion and extension;
• at least one fourth actuator providing a fourth rotational motion to the foot plates in the sagittal plane via a fourth actuation transfer means for supporting the user in an ankle flexion and extension;
• the at least two side hip links, wherein each of the at least two side hip links is rotatably connected to a side of the back-hip support via at least one hip articulation, wherein the at least two side hip links configured to support the user in the hip adduction and abduction;
• and
• wherein the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator are disposed around the hip level and a back and/or a front of the user in at least the standing position,
• wherein the wearable lower extremity exoskeleton is configured such that the shank link of a first leg of the two legs rotates outwardly about the at least one foot articulation of the first leg around an axis that is perpendicular to the coronal plane while the foot plate of the first leg is level on a ground and while a second leg of the two legs is lifted off of the ground.