A gait orthotic device, such as a powered exoskeleton (100), includes at least one joint at least one actuator (125, 130 135, 140) configured to cause movement of the device at the joint a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface (300) or object and a controller (105). The controller (105) is configured to determine when a fall is occurring and direct the actuator (125, 130 135, 140) to: orient the device so the cushioning mechanism makes contact with the surface (300) or object during the fall or reduce a kinetic energy of the device during the fall by performing positive joint work.
