Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 57 2 2025 04 21 Exoskeleton Robots and the Future of Rehabilitation; A Comprehensive Review on Lower-Limb Exoskeletons Exoskeleton Robots and the Future of Rehabilitation; A Comprehensive Review on Lower-Limb Exoskeletons 235 264 5771 10.22060/mej.2025.23908.7826 FA Reza Hajian Faculty of Mechanical Engineering, Semnan University, Semnan, Iran Mohammad Hossein Khalesi Faculty of Mechanical Engineering, Semnan University, Semnan, Iran 0000-0002-1499-0565 Ali Soltani Sharif Abadi Faculty of Electronics and Information Technology, Warsaw University of Technology, Warsaw, Poland Journal Article 2025 02 14 <span style="letter-spacing: .05pt;">In the contemporary era, rapid advancements in robotic and electronic technologies have led to the extensive development of exoskeletons as advanced wearable devices. Integrating sensors, actuators, and artificial intelligence algorithms, these devices have significantly improved the quality of life for individuals with mobility impairments, enhanced physical capabilities for healthy users, and facilitated various industrial and military activities. This paper provides a comprehensive review of the historical evolution and progress of lower-limb exoskeletons, tracing their development from initial concepts in the 19th century to today's sophisticated models. The paper further examines the development trends, classifications, and applications of these systems within rehabilitation, medical, industrial, and military contexts. A functional analysis of the technology, focusing on objectives such as reducing inertial load forces, transferring weight to the ground, and enhancing human joint strength, reveals notable successes alongside ongoing challenges, including high production costs, technical complexity, and limitations in mimicking natural body movements. Additionally, emerging opportunities in fields such as sports, artificial intelligence, and user-centered design are discussed. Findings from this systematic review can aid in optimizing design, reducing device weight, and enhancing efficiency. Ultimately, the paper presents a future-oriented perspective on exoskeleton development, emphasizing their crucial role in everyday life and medical practices.</span> <span style="letter-spacing: .05pt;">In the contemporary era, rapid advancements in robotic and electronic technologies have led to the extensive development of exoskeletons as advanced wearable devices. Integrating sensors, actuators, and artificial intelligence algorithms, these devices have significantly improved the quality of life for individuals with mobility impairments, enhanced physical capabilities for healthy users, and facilitated various industrial and military activities. This paper provides a comprehensive review of the historical evolution and progress of lower-limb exoskeletons, tracing their development from initial concepts in the 19th century to today's sophisticated models. The paper further examines the development trends, classifications, and applications of these systems within rehabilitation, medical, industrial, and military contexts. A functional analysis of the technology, focusing on objectives such as reducing inertial load forces, transferring weight to the ground, and enhancing human joint strength, reveals notable successes alongside ongoing challenges, including high production costs, technical complexity, and limitations in mimicking natural body movements. Additionally, emerging opportunities in fields such as sports, artificial intelligence, and user-centered design are discussed. Findings from this systematic review can aid in optimizing design, reducing device weight, and enhancing efficiency. Ultimately, the paper presents a future-oriented perspective on exoskeleton development, emphasizing their crucial role in everyday life and medical practices.</span> https://mej.aut.ac.ir/article_5771_d156d4836ea87dd732cfda175b7911cb.pdf