This book started with an introduction to Rehabilitation Robotics and, in particular, of Rehabilitation Wearable Robots of which Exoskeletons are very interesting examples. A historical note that dated back to the late 1960’s the first work on Rehabilitation Robotics was given in Chapter 1. Even though this represents already more than 40 years of work in the area, when looking to publications and scientific contributions in the field, one might say that it is still in its infancy.

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