There is a need for improved assistive devices suitable for use in supporting and treating paraplegia, by facilitating on-going active rehabilitation in a manner that allows for natural motion. Described herein is a method of controlling an exoskeleton apparatus with at least one actuator for manipulating a limb of the exoskeleton. The method comprises providing a plurality of sensors coupled to the exoskeleton, each of the sensors configured to detect a physiological characteristic, receiving input signals from each of the sensors, and generating an input profile from sensor values produced by the sensors. The method comprises selecting a profile with expected values that correspond to the sensor values from a plurality of movement profiles, each of the movement profiles corresponding to a control action. The expected values are predetermined, and each of the movement profiles is pre-configured based on able-bodied use data for of the exoskeleton apparatus. The method also comprises implementing the control action.
