1. An exoskeleton bracing system comprising: a trunk support for affixing to the trunk of a disabled person; leg braces for connecting to the legs of the person, each leg brace including limb segment braces; motorized joints adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support; one or more ground force sensors designed to sense ground force exerted on each of the leg braces; and a controller for receiving sensed signals from said one or more ground force sensors, with an algorithm for identifying a stance from the sensed signals and, based on the identified stance, actuating the motorized joints to perform an action relating to a mode of locomotion selected from a set of predefined actions corresponding to the identified stance.