Spacesuit with Robotic Appendages

Systems and methods for assisting movement of a user and/or a base connected to one or more robotic limbs are described herein. Forces may be applied to one or more robotic limbs to control movement of the base. The base may be attached to a user, or other payload, and forces applied to the base due to externally applied forces, such as those applied by a user interacting with an environment, may result in reactionary forces being applied to the one or more robotic limbs. These forces may be detected and used to determine one or more commands for operation of the one or more robotic limbs. Optionally, the robotic limbs may include one or more end effectors which may removably couple or otherwise be held substantially stationary relative to an environment to form a closed loop kinematic chain.