Abstract: An exoskeleton having a mechanism for elastically balancing loads applied to the exoskeleton is provided. The mechanism has a rigid connection element and a rigid housing mutually pivoted to one another about a first axis of oscillation and attachable to respective relatively rotatable parts of the exoskeleton. A lever is rotatably mounted to the rigid housing about a second axis of oscillation. A flexible traction element has a first end rotationally secured to the rigid connection element with respect to the first axis of oscillation and a second end secured to the lever at a securing point spaced from the second axis of oscillation. A compression spring exerts a thrust, away from the first axis of oscillation, against a portion of the lever intermediately between the second axis of oscillation and the securing point to the second end of the flexible traction element.