Abstract: An exoskeleton includes: a torso attachment; a hip frame rigidly connected to the torso attachment; first and second actuators, each fastened to the hip frame for supporting walking or bending motion of a wearer; first and second thigh attachments, each assigned to an actuator; first and second guide/carrier structures for transmitting forces between one of the thigh attachments and the actuator assigned to this thigh attachment in each case; and a control unit for actuating the actuators. A distance sensor for contactless monitoring of the position of a thigh of the wearer relative to the thigh attachment is located in each thigh attachment. In a method of use, the control unit can control the actuator in a first operating mode such that the attachment is kept at a predefined distance from the extremity and a second operating mode such that the attachment bears against the extremity in a force-conducting manner.