A Study of the Comparative Evaluation System of the Lower-Limb Exoskeleton

The aim of this study is to develop a comparative evaluation system of the lower-limb exoskeletons. First, the comparative evaluation factors were classified into five categories: ease of wearing, safety, sense of wearing, effectiveness, and ease of use, based on the characteristics of the lower-limb exoskeletons. Then, a total of 15 questions were designed for 20 participants who had no experience with musculoskeletal disorders in this study. All participants tested the three lower-limb exoskeletons (CEX, Archelis, and Chairless Chair) and scored their subjective ratings on an 11-point scale. The results showed that the CEX was rated the highest for ease of wearing and effectiveness, whereas Archelis received the highest score for safety and ease of use. Based on the results, it was noted that the back support of the lower-limb exoskeletons should be removed, and the knee angle should be adjustable for various ranges to fit the users. In addition, exoskeleton developers would be better focused on ease of wearing and ease of use to improve the lower-limb exoskeleton. Based on this study, it is expected to be used as important and fundamental data for users’ requirements for more convenient and safer exoskeletons’ design.