Over the past few decades, an enormous amount of research effort has been put into developing exoskeletons and robotic assistive devices. Primary aims generally being rehabilitation use, these devices have variety of other application areas including rescue, military and recreational activities. Although the supplementary technologies such as measurement and control have advanced vastly in recent times, there are still many challenges related to the exoskeleton and robotic assistive device development for the progress in their improved and widespread usage. The natural and versatile human body structure and its multifaceted movement convey a huge potential together with the challenges for the improvement of exoskeletons and robotic devices for mobility assistance and therapy and, demand for the usage of such devices progressively growing. The associated challenges and the solutions to the problems can be virtually inestimable considering also the variety of circumstances of patients in need. In this paper, we summarize and review a number of researches performed in the field to provide a broad perspective for the current and potential future work relevant to the area of robotic assistive devices for mobility and their therapeutic usage.

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