During the last 30 years, there has been an increase in the development and testing of robotic wearable exoskeletons for walking rehabilitation following SCI. The intended effect of these devices is to induce neuroplastic changes through intensive walking training [69], while also providing task-related visual and functional feedback [15]. Besides, WR provide a richer walking experience compared to traditional therapy, allowing independent ambulation while maintaining postural stability [22]. However, clinical evidence is still limited and nonconclusive [18], thus, the scientific community is questioning the design and application principles of WR, as well as pointing towards the actual understanding of how to tune WR control parameters depending on the patient’s characteristics and therapeutic goals [19].