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In order to provide congruent human\u2013machine interaction for assisting the users, exoskeletons should have knowledge of human\u2019s planned action and accordingly command the robot by the designed controller. It means the ubiquitous aspect of exoskeletons lies on motion intent understanding and active compliance control. In the last decade, extensive research has been conducted on the two topics. However, no major breakthrough has been made. Thus, a systematic review and analysis on this very subject is of great significance in developing exoskeletons. Within this context, this review first surveys the history of lower limb exoskeletons to summarize the various technologies for realizing transparent human exoskeleton coordination. Then, an overview about motion intent understanding and compliance control strategies are presented in detail. 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