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The aging population and increased number of individuals with motor dysfunction pose significant challenges to the workforce. This situation is further exacerbated by a declining working-age population, which has resulted in labor shortages. A potential remedy to these issues lies in the employment of wearable robots. As a form of human-robot collaboration, these devices can augment motor capabilities and offer assistance with various motor functions. To this end, this paper presents a systematic review of the current research status of wearable robots, focusing on the applications of Supernumerary Robotic Limbs (SRL) and exoskeletons for task assistance and motor function restoration in the field of industrial and rehabilitation, respectively. The paper also deliberates on the research trends, challenges, and prospective directions of human-robot interaction and control strategies regarding wearable robots.