Over the last twenty years, rehabilitation robotics has undergone continuous growth as an emerging field with the aim of adding automation to rehabilitation treatments. The elderly and stroke patients are two of the largest groups of the population that experience limited ability of motion. In order to sustain the autonomy of subjects experiencing locomotory limitations and lower their reliance on classic assistive devices or human help, many physical assistance robotic devices are being developed to aid in a variety of therapeutic support tasks. These devices, more commonly referred to as rehabilitation robots, are mechatronic systems aimed to reinstate some level of motor function in a patient.