Exoskeleton and method for controlling a swing leg of the exoskeleton

A method of controlling an exoskeleton worn by a user, the method comprising:

• supplying energy from at least one power unit of said exoskeleton, which includes first and second leg supports configurable to be coupled to the user's lower limbs, an exoskeleton trunk configurable to be coupled to the user's upper body and rotatably connectable to said first and second leg supports to allow for flexion and extension between each of the first and second leg supports and said exoskeleton trunk, first and second hip actuators configured to create torque between said exoskeleton trunk and respective first and second leg supports, and said at least one power unit providing power to said first and second hip actuators based on at least one created torque profile, to the first hip actuator during at least one segment of a swing phase of the first leg support, wherein the energy is:
• a) supplied when both the first and second leg supports are on a supporting surface;
• b) initiated before the first leg support leaves the supporting surface;
• and
• c) applied in a forward swing direction, thereby transferring mechanical energy to a lower limb of the user through said first leg support from prior to toe-off and into the swing phase as the lower limb moves in the forward swing direction.