Questionnaire results of user experiences with wearable exoskeletons and their preferences for sensory feedback

Wearable exoskeletons can help people with spinal cord injuries (SCI) walk, offering psychological and physical benefits. However, controlling these exoskeletons is hard and requires lots of training. People with SCI lack both motor control and sensory information from below their injury, which is key for balance and knowing their body's position. The study explores providing sensory feedback to exoskeleton users, aiming to improve control. A questionnaire was used to identify which information is missing and which feedback methods (sound, vibration, or visuals) and timing (constant or occasional) users prefer. The study found that feedback on weight shifting (side-to-side and front-to-back) and when to start a step might be helpful. Vibrotactile feedback (using vibrations) and occasional feedback were slightly preferred.

• 1
  Three feedback parameters (feedback about mediolateral and anteroposterior weight shift and feedback about step initiation) were considered as possibly helpful by the respondents.
• 2
  Furthermore, there were slight preferences for the use of vibrotactile (over auditory and visual) and discrete (over continuous) feedback.
• 3
  The answers of the respondents on the optimal feedback parameters were rather variable and therefore it is recommended to let the users choose their preferred feedback system during a training session with several feedback options.