A Review of Knee Exoskeleton Design Aspects for Improving User Comfort

Knee exoskeletons are mechanical devices specifically designed to be worn with the purpose of enhancing the physical abilities of the user. They are seeing adoption in various fields, such as rehabilitation after injury, mobility assistance for the elderly, and reducing strain on workers in industrial settings. While technological advancement in actuation and controls has greatly contributed to the development of exoskeletons, user comfort is a key factor limiting their success. This paper presents a review of five identified critical design parameters that impact user comfort: exoskeleton joint, connection mechanism, interface material, weight, and control system.