Powered exoskeletons for humans have long triggered the imagination. Merely two decades ago a role was envisaged for these devices in the assistance and rehabilitation of the impaired, and the number of powered exoskeletons for the upper and lower limbs has steadily grown ever since. Gait rehabilitation exoskeletons in particular were introduced to assist in the intensive and repetitive gait training of persons with gait impairment due to spinal cord injury, stroke and other neurological disorders. In this way physiotherapists could be relieved from the strenuous effort involved in gait assistance and patients could benefit from intensive and quantifiable assistive training.

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