Traditional wearable robots mostly consist of rigid structures connected to the human body. Due to the inherent characteristics of human joints, it is unavoidable that the robot joints have some misalignment with the wearer’s biological joints. One solution to the joint misalignment problem in wearable robots is to use soft structures instead of traditional rigid structures as the interface between the robot and the wearer. This survey paper aims to provide an overview of the designs of wearable robots for the lower limbs that do not contain any rigid structures or joints. This study is mainly focused on robots with an electrical cable-driven actuator. The lower limb joint-less robots introduced in this paper were categorized into three main groups, namely exoskeleton-based robots, end-effector-based robots, and​ exosuits. Application of these devices can be categorized as rehabilitation of patients with gait impairments and power augmentation of healthy users. After a detailed review of the notable designs in each group, a discussion about the advantages and disadvantages indicated that the main drawback of current designs is the limitation on the amount of provided assistive loads. Because the forces are mainly applied in parallel to the human body, the amount of these forces is limited by the wearer’s comfort level. In the end, a possible research direction for future researchers is presented in an attempt to address the limitations of current designs.