An exoskeleton comprising: a leg support configured to be coupled to a wearer; a hip actuator; a knee actuator; and a control system configured to cause the exoskeleton to successively enter at least two modes of operation for the exoskeleton, with the modes of operation being selected from two or more of a gait training preparation mode, a balance training mode, a center of pressure control mode, and a trajectory cycle mode; characterised in that: wherein the gait training preparation mode comprises the steps of: (i) causing the exoskeleton to enter the gait training preparation mode; (ii) moving the leg of the wearer with the exoskeleton; (iii) causing the exoskeleton to exit the gait training preparation mode; and (iv) performing gait training with the exoskeleton; wherein the balance training mode comprises the steps of: (i) causing the exoskeleton to enter the balance training mode; (ii) collecting data on a balance state of the exoskeleton and wearer while the wearer performs a movement; and (iii) providing feedback to the wearer based on the data collected on the balance state of the exoskeleton and wearer; wherein the center of pressure control mode comprises the steps of: (i) causing the exoskeleton to enter the center of pressure control mode; (ii) calculating a center of pressure of the exoskeleton and wearer; and (iii) determining whether a weight shift is recommended; and wherein the trajectory cycle mode comprises the steps of: (i) causing the exoskeleton to enter the trajectory cycle mode; (ii) directing the exoskeleton to perform a trajectory cycle a plurality of times; (iii) modifying the trajectory cycle to create a first modified trajectory cycle; and (iv) causing the exoskeleton to perform the first modified trajectory cycle one or more times. a leg support configured to be coupled to a wearer; a hip actuator; a knee actuator; and a control system configured to cause the exoskeleton to successively enter at least two modes of operation for the exoskeleton, with the modes of operation being selected from two or more of a gait training preparation mode, a balance training mode, a center of pressure control mode, and a trajectory cycle mode; characterised in that: wherein the gait training preparation mode comprises the steps of: (i) causing the exoskeleton to enter the gait training preparation mode; (ii) moving the leg of the wearer with the exoskeleton; (iii) causing the exoskeleton to exit the gait training preparation mode; and (iv) performing gait training with the exoskeleton; wherein the balance training mode comprises the steps of: (i) causing the exoskeleton to enter the balance training mode; (ii) collecting data on a balance state of the exoskeleton and wearer while the wearer performs a movement; and (iii) providing feedback to the wearer based on the data collected on the balance state of the exoskeleton and wearer; wherein the center of pressure control mode comprises the steps of: (i) causing the exoskeleton to enter the center of pressure control mode; (ii) calculating a center of pressure of the exoskeleton and wearer; and (iii) determining whether a weight shift is recommended; and wherein the trajectory cycle mode comprises the steps of: (i) causing the exoskeleton to enter the trajectory cycle mode; (ii) directing the exoskeleton to perform a trajectory cycle a plurality of times; (iii) modifying the trajectory cycle to create a first modified trajectory cycle; and (iv) causing the exoskeleton to perform the first modified trajectory cycle one or more times. wherein the gait training preparation mode comprises the steps of: (i) causing the exoskeleton to enter the gait training preparation mode; (ii) moving the leg of the wearer with the exoskeleton; (iii) causing the exoskeleton to exit the gait training preparation mode; and (iv) performing gait training with the exoskeleton; wherein the balance training mode comprises the steps of: (i) causing the exoskeleton to enter the balance training mode; (ii) collecting data on a balance state of the exoskeleton and wearer while the wearer performs a movement; and (iii) providing feedback to the wearer based on the data collected on the balance state of the exoskeleton and wearer; wherein the center of pressure control mode comprises the steps of: (i) causing the exoskeleton to enter the center of pressure control mode; (ii) calculating a center of pressure of the exoskeleton and wearer; and (iii) determining whether a weight shift is recommended; and wherein the trajectory cycle mode comprises the steps of: (i) causing the exoskeleton to enter the trajectory cycle mode; (ii) directing the exoskeleton to perform a trajectory cycle a plurality of times; (iii) modifying the trajectory cycle to create a first modified trajectory cycle; and (iv) causing the exoskeleton to perform the first modified trajectory cycle one or more times.