Saskia Baltrusch

150 Chapter 5 Funding This work has been funded by the European Commissions as part of the project SPEXOR under grant no. 687662. www.spexor.eu . Acknowledgments The authors would like to thank Dr. Idsart Kingma for very constructive discussions and valuable inputs during the testing and writing process. A Thank goes also to David Rodriguez Cianca for being the model in some of the exoskeleton pictures, to Raphael Furnemont for the help in the design of the torsional springs and the subjects who kindly participated in the trials. This contribution is related to the COST Action CA16116 Wearable Robots for Augmentation, Assistance or Substitution of Human Mo- tor Function, supported by COST (European Cooperation in Science and Technology), see https:// wearablerobots.eu .