A control system for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user. The control system comprises a user interface for receiving input data indicative of a desired movement sequence, a memory component for storing pre-programmed movement data indicative of one or more sequential instructions required to effect the movement sequence, each instruction being associated with relative actuator movements for performing the instruction, and an actuator controller for moving the one or more actuators according to the relative actuator movements for each instruction. The control system also comprises a terrain sub-system for adjusting the actuator movements upon detection of a change in terrain slope and a balance control sub-system for periodically adjusting the balance of the exoskeleton during relative movement of the one or more actuators.
