An exoskeleton device configured to be coupled to a person, the exoskeleton device comprising: a torso link configured to be coupled to the torso of the person, at least one leg link configured to be coupled to the leg of the person, at least one exoskeleton joint (145, 150, 160), at least one actuator coupled to the at least one exoskeleton joint (145, 150, 160) and configured to move the at least one exoskeleton joint (145, 150, 160), a plurality of sensors configured to measure at least one of an angle and forces of the at least one exoskeleton joint (145, 150, 160), and a controller configured to receive signals from the plurality of sensors, and control the at least one actuator to assist the gait or movement of the person, wherein said controller is further configured to estimate at least one feedback ready value based on signals from the plurality of sensors, wherein the feedback ready value is selected from the group consisting of: a. assistance level provided by the at least one exoskeleton joint (145, 150, 160), and b. torque in the at least one exoskeleton joint (145,150,160), wherein the exoskeleton device further comprises at least one feedback system operated by the controller and configured to communicate the feedback ready value to the person, whereby the exoskeleton device provides the person with exoskeleton device operational information not otherwise available to the person, characterized in that: the feedback system includes at least one light in proximity to the at least one exoskeleton joint (145, 150, 160), the at least one light indicating the assistance level provided by the at least one exoskeleton joint (145, 150, 160) or the torque in the at least one exoskeleton joint (145, 150, 160). a torso link configured to be coupled to the torso of the person, at least one leg link configured to be coupled to the leg of the person, at least one exoskeleton joint (145, 150, 160), at least one actuator coupled to the at least one exoskeleton joint (145, 150, 160) and configured to move the at least one exoskeleton joint (145, 150, 160), a plurality of sensors configured to measure at least one of an angle and forces of the at least one exoskeleton joint (145, 150, 160), and a controller configured to receive signals from the plurality of sensors, and control the at least one actuator to assist the gait or movement of the person, wherein said controller is further configured to estimate at least one feedback ready value based on signals from the plurality of sensors, wherein the feedback ready value is selected from the group consisting of: a. assistance level provided by the at least one exoskeleton joint (145, 150, 160), and b. torque in the at least one exoskeleton joint (145,150,160), a. assistance level provided by the at least one exoskeleton joint (145, 150, 160), and b. torque in the at least one exoskeleton joint (145,150,160), wherein the exoskeleton device further comprises at least one feedback system operated by the controller and configured to communicate the feedback ready value to the person, whereby the exoskeleton device provides the person with exoskeleton device operational information not otherwise available to the person, characterized in that: the feedback system includes at least one light in proximity to the at least one exoskeleton joint (145, 150, 160), the at least one light indicating the assistance level provided by the at least one exoskeleton joint (145, 150, 160) or the torque in the at least one exoskeleton joint (145, 150, 160).