Wearable robotic exoskeletons are currently the only option to restore upright mobility in persons with spinal cord injury (SCI). However, such weight-bearing locomotion exposes this population to a greater risk of bone fracture during exoskeletal-assisted walking (EAW). The increasing popularity of robotic exoskeletons emphasizes the need for the quantification of human-robot dynamics and joint loading during EAW. Thus, the goals of this study were to quantify 1) human-robot dynamics and 2) joint forces at lower-limb joints of persons with SCI during EAW in three FDA-approved devices. Our findings indicate that persons with SCI experience similar joint forces across the three FDA-approved exoskeletons. Joint dynamics and loading during EAW differ substantially from unassisted walking. Our study provides a computational framework to quantify the forces exerted on the long bones of persons with SCI during EAW. This work provides the foundation for future evaluation of fracture risk during EAW.