One of the fields in biomedical engineering that greatly improved in the last decades is the one related to the interaction between robotic systems and the human body in assistance and rehabilitation, as they represent a valuable solution for motor-impaired people. These technologies are also known as mobility assistive technologies. Exoskeletons represent one of the most recent solution to provide assistance in performing motion. However in most cases, they are still bulky, they need a high number of instruments and tools to work properly, both from the hardware and software perspective. This means that their use is often limited toresearch laboratories or rehabilitation centres.