Lieber exoskeletons were devices that were used by inhabitants of high-gravity Federation planets in the 23rd century, such as Hafjian. (TOS novel: Enterprise: The First Adventure)

A modification of the device was used in the 24th century by Lieutenant Melora Pazlar, an Elaysian from the low-gravity planet, Gemworld. The exoskeleton allowed her to function in the normal gravity environment kept aboard Starfleet bases and starships. (TNG novel: Gemworld)