A surface neuroprosthetic device for functional electrical stimulation (FES) having a locating system for locating the device on to a limb segment of a user, and a method therefor, the device including: (a) an at least semi-rigid exoskeleton shell for encompassing at least a portion of the limb segment; (b) at least one electrical stimulation electrode operatively connected with the shell, for making electrical contact with a surface of the limb segment, so as to effect FES of at least one muscle of the limb segment; and (c) a locator, operatively connected with the shell, for determining a positioning of the shell relative to the limb segment, such that the electrode is positioned near an activating point, the locator including: (i) means for determining rotational positioning of the exoskeleton shell on the limb segment, and (ii) means for determining longitudinal positioning of the exoskeleton shell on the limb segment.

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