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：Exoskeletons 和 empless efform Systems, 向用户提供机械效益。尽管在过去几十年里有了重大改进,但该技术尚未完全成熟,无法用于艰巨和非编程的任务。为了适应这种不足,需要分析和改进这一技术的不同方面。许多研究都试图解决Exoskeletons 的某些方面,例如机制设计、意图预测和控制计划。然而,大多数工作的重点是设计或应用的具体内容,而没有提供全面审查框架。这项研究的目的是分析和调查该技术改进和广泛采用方面的贡献。为了解决这个问题,在引进辅助装置和外科普特互动(HRI)之后,将从物理-人类机器人互动(HRI)的角度对主要设计标准进行调查。为了建立智能的HRI 战略,并使用户能够直觉控制。在简要介绍其控制战略的各种办法之后,将调查认知HRI 。这项研究将通过概述不同类别已知辅助装置的若干实例进一步发展。将讨论一些关于前方位选择和可能减少当前限制的准则。