Exoskeleton device and method of impeding relative movement in the exoskeleton device

A method of impeding relative movement in an exoskeleton device including a first brace configured to be coupled to a first portion of a wearer of the exoskeleton device, a second brace configured to be coupled to a second portion of the wearer, a first joint connecting the first and second braces and configured to allow relative movement between the first and second braces and a first brake controllable between an unactuated state and a plurality of actuated states, the first brake being configured to impede relative movement between the first and second braces at the first joint while the first brake is in one of the plurality of actuated states, the method comprising:

• selectively using a manual actuator during relative movement between the first and second braces, wherein the manual actuator is a handbrake and use of the manual actuator causes the first brake to enter one of the plurality of actuated states such that relative movement between the first and second braces is impeded at the first joint;
• wherein the first brake is configured to impede, but not prevent, relative movement between the first and second braces at the first joint while the first brake is in the one of the plurality of actuated states, and the manual actuator is configured to be selectively used by the wearer during relative movement between the first and second braces.