An apparatus, comprising: an exoskeleton system comprising a plurality of sensors for generating signals indicating a current motion and a current arrangement of the exoskeleton system, a hip segment, and at least one lower limb comprising a thigh segment (108R, 108L) and a shank segment (106R, 106L) for coupling to a lateral surface of a leg of a user, the thigh segment (108R, 108L) comprising: a housing (109R, 109L), a first powered joint (102R, 102L) disposed in the housing (109R, 109L) and configured for coupling the thigh segment to the hip segment, a second powered joint (104R, 104L) disposed in the housing (109R, 109L) and configured for coupling the thigh segment to the shank segment, a controller (116R, 116L) disposed in the housing (109R, 109L) and coupled to the plurality of sensors, the first powered joint (102R, 102L), and the second powered joint (104R, 104L), the controller configured for determining a current state of the exoskeleton system and a current intent of the user based on at least the current state of the exoskeleton system and generating control signals for the first powered joint (102R, 102L) and the second powered joint (104R, 104L) based on the current state and the current intent. an exoskeleton system comprising a plurality of sensors for generating signals indicating a current motion and a current arrangement of the exoskeleton system, a hip segment, and at least one lower limb comprising a thigh segment (108R, 108L) and a shank segment (106R, 106L) for coupling to a lateral surface of a leg of a user, the thigh segment (108R, 108L) comprising: a housing (109R, 109L), a first powered joint (102R, 102L) disposed in the housing (109R, 109L) and configured for coupling the thigh segment to the hip segment, a second powered joint (104R, 104L) disposed in the housing (109R, 109L) and configured for coupling the thigh segment to the shank segment, a controller (116R, 116L) disposed in the housing (109R, 109L) and coupled to the plurality of sensors, the first powered joint (102R, 102L), and the second powered joint (104R, 104L), the controller configured for determining a current state of the exoskeleton system and a current intent of the user based on at least the current state of the exoskeleton system and generating control signals for the first powered joint (102R, 102L) and the second powered joint (104R, 104L) based on the current state and the current intent. a housing (109R, 109L), a first powered joint (102R, 102L) disposed in the housing (109R, 109L) and configured for coupling the thigh segment to the hip segment, a second powered joint (104R, 104L) disposed in the housing (109R, 109L) and configured for coupling the thigh segment to the shank segment, a controller (116R, 116L) disposed in the housing (109R, 109L) and coupled to the plurality of sensors, the first powered joint (102R, 102L), and the second powered joint (104R, 104L), the controller configured for determining a current state of the exoskeleton system and a current intent of the user based on at least the current state of the exoskeleton system and generating control signals for the first powered joint (102R, 102L) and the second powered joint (104R, 104L) based on the current state and the current intent.