@CHAPTER{ iet:/content/books/10.1049/pbhe014e_ch2, keywords = {robot-assisted rehabilitation;soft robots;human treatment;soft healthcare robots;upper-limb rehabilitation robots;human assistance;healthcare applications;gait rehabilitation exoskeletons;ankle rehabilitation robots;}, title = {State of the art}, booktitle = Soft Robots for Healthcare Applications: Design, modelling, and control, publisher = {Institution of Engineering and Technology}, year = {2017}, pages = {23-48}, series = {Healthcare Technologies}, doi = {10.1049/PBHE014E_ch2}, url = {https://digital-library.theiet.org/;jsessionid=11wti3lixp27f.x-iet-live-01content/books/10.1049/pbhe014e_ch2} }