Assistive robotics offer promising solutions to mobility-related challenges, yet their real-world effectiveness depends on how well they address users’ pain, preferences, and daily routines. This study presents a structured, three-phase design process that combines online surveys, semi-structured interviews, and participatory workshops to develop actionable design recommendations for wearable assistive robotics. Focusing on lower-limb and back pain–a prevalent yet underrepresented concern–we identify user needs and expectations, and validate key design priorities such as discretion, comfort, adaptability, and ease of use. While users and designers participated in separate stages, their insights were integrated iteratively through an indirect co-design approach. The resulting recommendations reflect both functional and emotional considerations, setting a foundation for future development of assistive technologies that are not only technically sound but also personally meaningful and socially acceptable.