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Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons anddoi:10.3390/s22030884 pmid:35161629 pmcid:PMC8839165 fatcat:ptbo2fuk2jfe7oywpkrolvbwja