UC San Francisco used to run disability inspiration porn ads showing a plodding exoskeleton that would go about maybe 1 mi/day? My wife would joke that in the time it would take the exoskeleton to get her to the front door, she could used her power chair to walk to Starbucks, order breakfast, and bring it home. Has society put limits on what she can do in her chair due to crappy architecture, yes. Would a practical exoskeleton fix that, we doubt it.