<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0206</schemaVersion>

    <documentType>3</documentType>

    <periodOfReport>2022-01-22</periodOfReport>

    <noSecuritiesOwned>0</noSecuritiesOwned>

    <issuer>
        <issuerCik>0001549084</issuerCik>
        <issuerName>EKSO BIONICS HOLDINGS, INC.</issuerName>
        <issuerTradingSymbol>EKSO</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001908860</rptOwnerCik>
            <rptOwnerName>Davis Scott G.</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>C/O EKSO BIONICS HOLDINGS, INC.</rptOwnerStreet1>
            <rptOwnerStreet2>1414 HARBOUR WAY SOUTH, SUITE 1201</rptOwnerStreet2>
            <rptOwnerCity>RICHMOND</rptOwnerCity>
            <rptOwnerState>CA</rptOwnerState>
            <rptOwnerZipCode>94804</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>1</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
            <officerTitle>President &amp; COO</officerTitle>
        </reportingOwnerRelationship>
    </reportingOwner>

    <nonDerivativeTable>
        <nonDerivativeHolding>
            <securityTitle>
                <value>Common Stock</value>
                <footnoteId id="F1"/>
            </securityTitle>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>36700</value>
                    <footnoteId id="F2"/>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </nonDerivativeHolding>
    </nonDerivativeTable>

    <footnotes>
        <footnote id="F1">Represents Restricted Stock Units (&quot;RSUs&quot;) awarded pursuant to the Issuer's 2014 Equity Incentive Plan (the &quot;Plan&quot;) following approval by the Compensation Committee of the Board of Directors on April 8, 2021.</footnote>
        <footnote id="F2">The RSUs will vest and be paid out in three equal increments annually on each of the first three anniversaries of the grant date of April 8, 2021, subject to the Reporting Person's continued employment through each vesting date.</footnote>
    </footnotes>

    <remarks>Exhibit 24.1 Power of Attorney</remarks>

    <ownerSignature>
        <signatureName>/s/ Scott G. Davis</signatureName>
        <signatureDate>2022-02-03</signatureDate>
    </ownerSignature>
</ownershipDocument>
