The power exoskeleton that connect with human body lower limbs is controlled come movement needed for carrying out people. The intention of people is determined by controller based at least one of following monitoring result: the position change of the arm segment of people, the position change on the head of people, the orientation of walking aid used in people, contact force between walking aid and support surface used in people, the power that people applies walking aid, relative velocity between ectoskeleton, the relative bearing of ectoskeleton movable part and people and ectoskeleton, ectoskeleton movable part and people.
