Abstract Advances in robotic technologies have enabled the creation of new powered devices that can be worn by humans to assist their movement. These robotic exoskeletons can augment human performance in healthy individuals, replace lost motor functions in individuals with disabilities, or provide automated motor practice for therapeutic rehabilitation after neurological injury. There are still many limitations that need to be overcome to create commercially successful devices, including creating a comfortable physical human–machine interface and a controller that allows fluid and smooth motions.