Nowadays exoskeletons are becoming really important in everyday tasks of our life. Starting from assistance in operations, passing through rehabilitation due to multiple diseases, ending up to be used for enhancing the human capability in field’s operations. Therefore, the study of the design and the construction of a Biped-Wheeled Exoskeleton is necessary to understand the capability of integration between this particular exoskeleton and the human body structure. In order to provide the best wearability fit, several analysis are conducted with the main purpose to get as close as possible to a normal gait, minimizing the impact of the exoskeleton to the human body.