Abstract: A one-sided exoskeleton for placement in the center of a body of a person. The exoskeleton has a medial hip joint that includes hip plates and hip pulleys, a plurality of actuation cables, orthoses suitable for a right and a left lower limb of a person. Each of the orthoses comprising an ankle joint having a replaceable stirrup with a shoe or a shoe insert, a stirrup coupling, an ankle joint body and a guide pulley. Each of the hip pulleys is coupled to a respective ankle joint by at least one actuation cable of the plurality of actuation cables so that each actuation cable is on one end attached to one of the hip pulleys and on a second end attached to the stirrup coupling of the respective ankle joint. Each of the actuation cables is configured to convey a movement of the hip pulley to the respective ankle joint and cause a pivot of the respective replaceable stirrup in a first direction.