a method of controlling an exoskeleton bracing system to walk includes identifying an expected current stance , receiving a tilt signal from a tilt sensor , and receiving a ground force signal from ground force sensors . motorized joints are actuated to forwardly extend a leg brace when the expected stance includes standing with the leg braces together , the tilt signal indicates tilting forward , and the ground force signal indicates leaning on an opposite leg brace . motorized joints are actuated to extend a trailing leg brace forward beyond a forwardly extended leg brace when the expected stance includes a forwardly extended leg brace and a trailing leg brace , the tilt signal indicates tilting forward , and the ground force signal indicates leaning on the forwardly extended leg brace . motorized joints are actuated to converge both leg braces to a standing stance when the ground force signal indicates leaning on a trailing leg brace .