The movement problems in lower extremities resulting from accidents, paralysis, degenerative diseases, and elderly people with loss of mobility due to muscle weakness have been a problem that has been addressed for a long time, however, robotic devices focused on this type of rehabilitation and assistance have had a slow technological development in this area is necessary an improvement in this type of devices both in their design, control, and performance. To be more productive and accessible to people who require them. The purpose of this article is to present a systematic study of this type of robotic device for lower limb orthoses for rehabilitation and assistance. The objective is to provide the designer and researcher with a matrix for the development of a much more efficient lower limb orthotic robotic device. The procedure that was followed was the collection of data from different specialized search engines that assisted in the collection of information from the different research from the year 2016 to 2021. A selection was made of all the analyzed research where finally only 94 research were selected.