Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton

A method of reducing the oxygen consumption and heart rate of a person during a walking cycle utilizing an exoskeleton device, adapted to be coupled to said person, including at least one power unit, first and second leg supports rotatably connected to an exoskeleton trunk and configured to rest on a support surface during their stance phases, and first and second hip actuators configured to create torques between said exoskeleton trunk and said first and second leg supports respectively, said method comprising:

• creating a first unidirectional torque utilizing said first hip actuator, when said first leg support strikes the support surface and enters a stance phase, to move said first leg support in the stance phase backward relative to said exoskeleton trunk thereby pushing said person's upper body in a forward direction until said second leg support in a swing phase strikes the support surface such that the exoskeleton device is in the double stance condition;
• and
• creating a second unidirectional torque utilizing said first hip actuator, when said second leg support strikes the support surface and enters a stance phase, to move said first leg support, while still in the stance phase, forward until said first leg support leaves the support surface and then moving said first leg support into a swing phase.