Abstract
Rehabilitation exoskeletons represent a transformative solution for restoring motor function; however, discomfort at human–machine contact points reduces user compliance and clinical effectiveness. Although considerable advancements have been made in exoskeleton mechanics, investigations into cushioning material properties remains limited. This study adopts a mixed- methods approach, integratingqualitativeinsightsfromafocusgroup, subjective comfort ratings via a7-point Likert scale, and objective muscle-activation measurements using surface electro myo graphy, to examine how cushioning material properties, including elastic modulus, dynamic compression recovery rate, and material thickness, influence wearer comfort. Results demonstrate that materials with lower stiffness andhigher compression recovery rates significantly enhance perceived comfort. Additionally, the observed non-linear relationship between material thickness and comfort indicates an optimal range that balances pressure distribution and muscular load. These findings offer empirical guidelines for the ergonomics election of cushioning materials at exoskeleton-user interfaces, thereby advancing human-centered design strategies to improve the clinical applicability and long-term usability of rehabilitation exoskeletons.
Keywords
Rehabilitationexoskeletons; Cushioningmaterial; Wearingcomfort; Ergonomicdesign
DOI
https://doi.org/10.21606/iasdr.2025.44
Citation
Han, H., Wang, P.,and Liu, Y.(2025) Enhancing Comfort at Interaction Points: Optimizing Cushioning Materials in Lower-Limb Rehabilitation Exoskeletons, in Chang, C.-Y., and Hsu, Y. (eds.), IASDR 2025: Design Next, 02-05 December, Taiwan. https://doi.org/10.21606/iasdr.2025.44
Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Conference Track
Track 9 - Healthcare Design
Enhancing Comfort at Interaction Points: Optimizing Cushioning Materials in Lower-Limb Rehabilitation Exoskeletons
Rehabilitation exoskeletons represent a transformative solution for restoring motor function; however, discomfort at human–machine contact points reduces user compliance and clinical effectiveness. Although considerable advancements have been made in exoskeleton mechanics, investigations into cushioning material properties remains limited. This study adopts a mixed- methods approach, integratingqualitativeinsightsfromafocusgroup, subjective comfort ratings via a7-point Likert scale, and objective muscle-activation measurements using surface electro myo graphy, to examine how cushioning material properties, including elastic modulus, dynamic compression recovery rate, and material thickness, influence wearer comfort. Results demonstrate that materials with lower stiffness andhigher compression recovery rates significantly enhance perceived comfort. Additionally, the observed non-linear relationship between material thickness and comfort indicates an optimal range that balances pressure distribution and muscular load. These findings offer empirical guidelines for the ergonomics election of cushioning materials at exoskeleton-user interfaces, thereby advancing human-centered design strategies to improve the clinical applicability and long-term usability of rehabilitation exoskeletons.