Prof. Shane (Sheng Q.) Xie has been Director of the Mechatronics and Robotics programme and Director of the Rehabilitation Robotics Lab at the University of Leeds, UK, since 2017. He was previously Director of the Rehabilitation and Medical Robotics Centre, University of Auckland, New Zealand (2002-2016). He received his Ph.D. in Mechatronics Engineering from Huazhong University of Science and Technology, China, in 1998. He has published 7 books, and has been the Technical Editor for IEEE/ASME Transaction on Mechatronics and the Editor-in-Chief for the International Journal of Biomechatronics and Biomedical Devices.Dr. Mingming Zhang is Executive Deputy Director of Auckland/Tongji Medical & Rehabilitation Equipment Research Centre at Tongji Zhejiang College, China. He received his Ph.D from the University of Auckland in 2016. His research interests include novel robot-assisted rehabilitation techniques, brain data mining and signal processing. He has over 25 papers and 7 Chinese patents.Dr. Wei Meng is Lecturer at the School of Information Engineering, Wuhan University of Technology, Wuhan, China. From 2014 to 2016, he was a Doctoral Scholar in Mechatronics Engineering at The University of Auckland, New Zealand. His research interests include robot assisted rehabilitation, human-robot interaction, and adaptive impedance control. He is the author of 2 books as well as 3 Chinese patents.

• Chapter 1: IntroductionChapter 2: State of the artChapter 3: Concept and modelling of a soft rehabilitation actuator: the Peano muscleChapter 4: Design of the reactive Peano muscleChapter 5: Soft wrist rehabilitation robotChapter 6: Development of a soft ankle rehabilitation robotChapter 7: Control of a soft ankle rehabilitation robotChapter 8: Design of a GAit Rehabilitation EXoskeletonChapter 9: Modelling and control strategies development of GAREXChapter 10: Conclusion and future work