Table 1.
Key elements of the four exoskeletons tested in this study, including potential limiting factors for setup and takedown tasks.
Fig 1.
Parts and components of the Ironhand exoskeleton.
Fig 2.
Parts and components of the Chairless Chair exoskeleton.
Fig 3.
Parts and components of the Skelex exoskeleton.
Fig 4.
Parts and components of the Laevo exoskeleton.
Table 2.
Task performance measures and design characteristics of exoskeletons.
Fig 5.
Mean task completion times for each task and exoskeleton type..
Fig 6.
Interaction effect between task and exoskeleton type as predictors of task completion time.
Fig 7.
Effect sizes for pairwise comparisons between exoskeletons; only statistically significant differences (p < 0.05) shown.
Large effects (green bars) for assembly tasks dominate the comparisons..
Table 3.
Pooled Regression Analysis: Task Completion Time (N = 16).
Fig 8.
Task completion times as a function of number of HTA steps for the 16 task-exoskeleton combinations tested here (four tasks, four devices).
Fig 9.
Task completion times as a function of the number of usability problems for the 16 task-exoskeleton combinations tested here (four tasks, four devices).
Table 4.
Task-specific regression analyses: task completion time.
Fig 10.
Proportion of variance in task completion times (R2) explained by number of HTA steps (procedural complexity) and number of usability problems across setup and takedown tasks.
Fig 11.
Weak correlations between part count and each of completion time and failure rate for the different setup and takedown tasks.
Fig 12.
Task failure rates for different exoskeletons.
Fig 13.
Task failure rates as a function of the number of HTA steps for the assembly task.
Table 5.
Regression analysis: task failure rates.
Table 6.
Summary of fitted design-level regression models.
Table 7.
Participant-level regression results: Predictors of task completion time (N = 397 observations).
Table 8.
Key findings summary with statistical evidence.
Table 9.
Design complexity comparison across exoskeletons.