Exoskeletons are a perfect example of a mechatronics product. They illustrate the close integration and interdependence of mechanical design, drive train, sensors, control strategy and user interface. Recent developments of our lab will be discussed in detail. Application examples include paraplegics, amputees, muscular dystrophy patients. The motivations of the users exoskeletons are as diverse as sporting challenge, life quality improvement for daily living, rehabilitation and social integration. Links to Cognitive Neurosciences will also be briefly discussed.