Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks. To accommodate this insufficiency, different aspects of this technology need to be analysed and improved. Numerous studies have tried to address some aspects of exoskeletons, e.g. mechanism design, intent prediction, and control scheme. However, most works have focused on a specific element of design or application without providing a comprehensive review framework. This study aims to analyse and survey the contributing aspects to this technology's improvement and broad adoption. To address this, after introducing assistive devices and exoskeletons, the main design criteria will be investigated from both physical Human-Robot Interaction (HRI) perspectives. In order to establish an intelligent HRI strategy and enable intuitive control for users, cognitive HRI will be investigated after a brief introduction to various approaches to their control strategies. The study will be further developed by outlining several examples of known assistive devices in different categories. And some guidelines for exoskeleton selection and possible mitigation of current limitations will be discussed.

翻译：外骨骼与矫形器是可穿戴的移动系统，能为使用者提供机械辅助。尽管近几十年来取得了显著进步，该技术尚未完全成熟到可应用于高强度和非程序化任务。为弥补这一不足，亟需从不同角度对该技术进行分析和优化。已有大量研究尝试解决外骨骼的某些方面，例如机构设计、意图预测和控制方案。然而，多数工作仅关注设计或应用中的特定环节，缺乏全面的综述框架。本研究旨在系统梳理和分析促进该技术改进与广泛采用的关键因素。为此，在介绍辅助设备和外骨骼后，将从物理人机交互角度探讨主要设计准则。为建立智能人机交互策略并实现用户直观控制，在简要阐述各种控制策略方法后，将深入研究认知人机交互。研究将进一步分类列举不同类别的典型辅助设备实例，并讨论外骨骼选型指南及当前技术局限的潜在解决方案。