A locomotion assisting exoskeleton device comprising: a plurality of braces including a trunk support for affixing, in use, to part of the torso of a person and leg segment braces each leg segment brace for connecting in use, to a section of a leg of the person; each leg segment brace including a motorized joint comprising an angle sensor and an actuator, the joint for connecting a respective leg segment brace to the trunk support and for providing relative angular movement therebetween; a tilt sensor mounted on the exoskeleton device for sensing a forward tilt of the trunk support, wherein the tilt sensor is mounted on the trunk support, or wherein the tilt sensor is mounted on a component of the exoskeleton device whose tilt is substantially equal to the tilt of the trunk support; and a controller for receiving sensed signals from the tilt sensor and each angle sensor and programmed with an algorithm with instructions for actuating the motorized joints in accordance with the sensed signals, wherein the algorithm comprises, upon initiation of a walking mode via use of crutches associated with the exoskeleton device: monitoring the tilt sensor to determine whether the indicated tilt being equal to or greater than a threshold within a timed period, upon the indicated tilt being greater than the threshold within the timed period, initiating a step sequence, or if the threshold has not been met within the timed period, exiting the walking mode, the step sequence comprising: operating a first of the motorized joints to swing a first trailing leg forward; monitoring the angle sensor to verify that the swung forward leg is moving in accordance with predetermined criteria, or whether the step is complete or to continue forward motion of the leg; operating a second of the motorized joints to extend a second leading leg backward so as to raise the trunk support towards an upright position; and halting forward motion of the first leg upon the angle sensor of the first motorized joint being within a predetermined range of angles. a plurality of braces including a trunk support for affixing, in use, to part of the torso of a person and leg segment braces each leg segment brace for connecting in use, to a section of a leg of the person; each leg segment brace including a motorized joint comprising an angle sensor and an actuator, the joint for connecting a respective leg segment brace to the trunk support and for providing relative angular movement therebetween; a tilt sensor mounted on the exoskeleton device for sensing a forward tilt of the trunk support, wherein the tilt sensor is mounted on the trunk support, or wherein the tilt sensor is mounted on a component of the exoskeleton device whose tilt is substantially equal to the tilt of the trunk support; and a controller for receiving sensed signals from the tilt sensor and each angle sensor and programmed with an algorithm with instructions for actuating the motorized joints in accordance with the sensed signals, wherein the algorithm comprises, upon initiation of a walking mode via use of crutches associated with the exoskeleton device: monitoring the tilt sensor to determine whether the indicated tilt being equal to or greater than a threshold within a timed period, upon the indicated tilt being greater than the threshold within the timed period, initiating a step sequence, or if the threshold has not been met within the timed period, exiting the walking mode, the step sequence comprising: operating a first of the motorized joints to swing a first trailing leg forward; monitoring the angle sensor to verify that the swung forward leg is moving in accordance with predetermined criteria, or whether the step is complete or to continue forward motion of the leg; operating a second of the motorized joints to extend a second leading leg backward so as to raise the trunk support towards an upright position; and halting forward motion of the first leg upon the angle sensor of the first motorized joint being within a predetermined range of angles. monitoring the tilt sensor to determine whether the indicated tilt being equal to or greater than a threshold within a timed period, upon the indicated tilt being greater than the threshold within the timed period, initiating a step sequence, or if the threshold has not been met within the timed period, exiting the walking mode, the step sequence comprising: operating a first of the motorized joints to swing a first trailing leg forward; monitoring the angle sensor to verify that the swung forward leg is moving in accordance with predetermined criteria, or whether the step is complete or to continue forward motion of the leg; operating a second of the motorized joints to extend a second leading leg backward so as to raise the trunk support towards an upright position; and halting forward motion of the first leg upon the angle sensor of the first motorized joint being within a predetermined range of angles. operating a first of the motorized joints to swing a first trailing leg forward; monitoring the angle sensor to verify that the swung forward leg is moving in accordance with predetermined criteria, or whether the step is complete or to continue forward motion of the leg; operating a second of the motorized joints to extend a second leading leg backward so as to raise the trunk support towards an upright position; and halting forward motion of the first leg upon the angle sensor of the first motorized joint being within a predetermined range of angles.