The invention relates to an exoskeleton including: a foot structure; a lower leg structure; a mechanical knee link having a pivot axis; and a mechanical ankle link connecting the foot structure to the lower leg structure and including a first pivot connection having a first pivot axis that is substantially parallel to the pivot axis of the mechanical knee link, and a second pivot connection having a second pivot axis that is perpendicular to the first pivot axis and forms an angle of between 30° and 60° with the support plane when the exoskeleton is upright and at rest.