Exoskeleton robots are currently being developed in many research lab’s for the rehabilitation of patients suffering from injuries to the nervous system. A multitude of exoskeletons for interaction with the human limb are proposed for rehabilitation training, ranging from external, end-point based devices to wearable full limb exoskeletons. Their ability to smoothly interact with the human subject is crucial for successful application in physical therapy. It is important that devices interacting closely with a human limb are intrinsically safe, comfortable and are able to exploit the full range of natural motion for movement training. The two main aspects that need good consideration are the implementation of the actuation and motor control, as well as the intrinsic mecha-nical and kinematic design of their structure.

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