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Upper and Lower Extremity Exoskeletons 313

to move around. Nevertheless, there are many issues yet to improve the
effectiveness of the hybrid EEG-EMG methods for use in bio-robotic appli-
cations (Lalitharatne et al., 2013). It is important for future studies to present
quantitative performance evaluations for such hybrid EEG-EMG
approaches, in order to demonstrate their effectiveness in comparison to
other control methods.

5 CONCLUSION
The capacity of applying dynamic forces to the body and specifically to
upper and lower limbs opens the application field of exoskeletons. Those
devices are designed to enhance the human motor performance by the
external framework, in the military, in the industry, and for medical appli-
cations. Nowadays, the exoskeleton systems are forging ahead with high
integration using other emerging technologies including VR, haptics,
videogames, and soft robotics, among others. However, several challenges
remain and there are some design constraints in the development of exoskel-
etons. When developing portable exoskeletons, a tradeoff between power
and weight must be considered. Specifically, advances in actuation and
energy storage technologies, intelligent power management, and mechani-
cal design are required before seeing exoskeletons widespread use.

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