A control device for controlling a rigidity of an orthosis, includes a sensing circuit for sensing a falling motion, a signal generating circuit which generates a sensing signal based on the sensing of the falling motion, and a rigidity control mechanism which controls a rigidity of the orthosis based on the sensing signal.

An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.

A weight-distributing exoskeleton capable of supporting and/or control the distribution of at least part of the weight of a protective garment and/or face shield proximate the knee of the user. The exoskeleton may include a plurality of leg structures, each leg structure including a knee joint or knee hinge configured to bear the load of the protective garment, and a foot member including a magnetic quick release mechanism configured to control quickly engage with and release from the leg structures. The weight of the protective garment and/or face shield is transferred to the floor such that the user bears little to no burden of carrying it.