There are numerous causes that can affect the functioning of the human locomotor system, leading to the appearance of joint disorders in the lower limb and generating atypical gait patterns. The importance of research and development in assistance technologies to compensate pathological gait have been recognised since the beginning of the twentieth century and numerous challenges still lie ahead to make their clinical application a reality. In this section, GAIT, the lower-limb Wearable exoskeleton is presented, conceived as a compensation and evaluation system of pathological gait, for application in real conditions as a combined assistance and assessment methodology of the problems affecting mobility in individuals with neuromotor disorders. The main technological challenges are discussed with respect to sensing, actuation and control subsystems. Special emphasis is placed on advances in robotic lower-limb orthoses, and biomechanical requirements, structural design considerations and the approaches existing to develop robust real-time controllers for portable solutions with a common aim, human motor control, are analysed.