Abstract—This paper describes how to control a powered exoskeleton with motion amplification using mechanical systems, actuators, micro controllers and force sensors and it also explains a method which can be used for sensation and position feedback in exoskeletons. The exoskeleton described in this paper is powered by hydraulics, also this paper describes how we can use this method in a pneumatic powered exoskeleton with least modification. The various majour issues of existing exoskeleton technology and how this method solves those issues are also described in this paper.