marked growth, particularly research associated with developing best practices for design and control of such systems, which varies depending on impairment and objective. Efforts describing exoskeletal designs emerged early in the decade, including methods of movement intent and control. A method of user intent that has gained widespread popularity is the use of body posture, as measured via inertial measurement units (IMUs), to infer intent to walk (or perform a different activity) (32). In addition to exoskeletons, soft “exosuits” were introduced during the decade (33) (see also “Soft robotics for medicine” section). Relative to exoskeletons that use rigid links, soft exosuits use low-modulus materials, often along with tendon actuation, to transmit movement assistance without imposing substantial movement constraint along nonactuated DOFs. Although methods for LLE control for nonambulatory individuals became established during the decade, e.g., (32), the field has yet to fully establish corresponding best practices for providing gait assistance for poorly ambulatory individuals. In the case of nonambulatory individuals, no joint-level cooperative control is required between human and machine, whereas assisting a user capable of movement generally entails a high degree of joint-level coordination between device and human. Presumably, the field will, in the coming decade, establish methods for assisting poorly ambulatory individuals without jeopardizing the user’s agency or ability to maintain balance, particularly in the absence of a stability aid, with the aspirational objective of also improving balance. Therapeutic rehabilitation robots Whereas assistive exoskeletons and prosthetic limbs are intended to replace lost function, rehabilitation robots are designed to deliver repetitive movement therapy to the limbs after neurological injuries, most commonly stroke and spinal cord injury, so that the individual’s capabilities are restored. These robotic devices enable the execution of reaching, grasping, walking, and ankle movements in a manner that induces or facilitates neuroplasticity, which can result in recovery of range of motion and movement coordination. When these gains are realized, the patient experiences restored limb function and, in some cases, is able to provide self-care, live independently, and even return to the workforce after their injury without the support of the robotic device. Some rehabilitation robots take the form of exoskeletons that fit around the leg, arm, or hand, whereas others are end effector–type robots that interface with the human body through a handle or foot platform. Devices target either lower limbs, with the primary objective being the restoration of mobility, or the upper limb, with the objective being the restoration of dexterity. The robot becomes a reliable tool for the physical therapist, providing precise and repeatable movement support to the patient with a level of intensity that can be modulated either through variable resistance, assistance, or number of repetitions. Integrating robotic devices in a rehabilitation regimen can reduce personnel costs, minimize work-related injuries, and improve the consistency by which training is delivered. Robots for rehabilitation can serve both as the means to deliver therapy and as a tool for assessment, because on-board sensors can measure features of movements over the course of the therapeutic intervention, providing a fine-grained view of the progress in movement capability that traditional clinical assessment scales, which are coarse and focused on functional ability, fail to capture. Since the introduction of rehabilitation robots in the early 1990s as a means to provide precise, repetitive movement therapy, there have been important advances made in their design, fabrication, control, and clinical translation. In the decade before 2010, the major research accomplishments included the clinical assessment and commercialization of the first generation of robotic devices developed for neurorehabilitation, including treadmill-based exoskeletons for gait rehabilitation, such as the Lokomat, and end effector–type robots for upper limb rehabilitation, such as the InMotion ARM robot. Since these initial developments, in the early 2000s, researchers began to develop new exoskeleton-type robots for the upper limb that could target specific joint movements distal to elbow and shoulder, whereas lower-limb exoskeletons that could facilitate over ground walking were introduced. This decade saw foundational work in the development of control algorithms that were designed to enable better coordination of movement between robot and patient. During the decade 2010–2020, rehabilitation robotics research was primarily focused on four areas. The first was novel device design, increasingly of the exoskeleton form and focused on the distal joints of the upper limb and incorporating compliance and soft materials for both actuation and structure. The second was the development of new control algorithms to modulate the interaction between human and robot to elicit maximum participation from the human. The third was the creation of methods of intent detection to infer and support the patient’s desired movements, rather than prescribed or preprogrammed trajectories. The fourth was the expanded