NASA, some engineers from Oceaneering Space Systems of Houston and the Florida Institute for Human and Machine Cognition of Pensacola have teamed to develop a robotic exoskeleton as an extension of the Robonaut project. The 57 lb. X1 can be worn to inhibit or assist a human's leg movements. The device has 10º of freedom, four motorized joints and six passive one that when used together can achieve turning, side-stepping, flexing, etc. While the X1 will be able to assist astronauts walking in reduced gravity on planets far, far away, it could be used on our planet as an assistive walking device.
Currently in the developmental stage, we expect that if we wait long enough, Robonaut will get a couple of them, a torso with arms and become a real boy humanoid.