  Wearable assistive robots (WR) for the lower extremity are extensively
documented in literature. Various interfaces have been designed to control
these devices during gait and balance activities. However, achieving seamless
and intuitive control requires accurate modeling of the human
neuromusculoskeletal (NMSK) system. Such modeling enables WR to anticipate user
intentions and determine the necessary joint assistance. Despite the existence
of controllers interfacing with the NMSK system, robust and generalizable
techniques across different tasks remain scarce. Designing these novel
controllers necessitates the combined expertise of neurophysiologists, who
understand the physiology of movement initiation and generation, and
biomechatronic engineers, who design and control devices that assist movement.
This paper aims to bridge the gaps between these fields by presenting a primer
on key concepts and the current state of the science in each area. We present
three main sections: the neuromechanics of locomotion, neuromechanical models
of movement, and existing neuromechanical controllers used in WR. Through these
sections, we provide a comprehensive overview of seminal studies in the field,
facilitating collaboration between neurophysiologists and biomechatronic
engineers for future advances in wearable robotics for locomotion.
