A powered orthotic system, such as an exoskeleton, is employed for overground rehabilitation purposes by adapting and adjusting to real-time needs in a rehabilitation situation whereby the system can be initially controlled to perform gait functions for a wearer based on a predetermined level of assistance but the predetermined level of assistance can be varied, based on one or more rehabilitation parameters or specific needs of the wearer undergoing therapy, through the application and adjustment of appropriate variables associated with operation of the system.