Table 4.

Industrial exoskeleton ergonomic metrics.

Ergonomic Measure	Metric	Sensors	References
Hand position	Horizontal location of hands	Video	Waters et al., 1994 [69]
	Vertical location of hands	Video
		OTS
	Type of grasp (coupling classification)	Video
Muscle activity	Reduction	EMG	De Looze et al., 2016 [48]
	Augmentation		ASTM 3518-21 [30]
	Fatigue		Theurel and Desbrosses 2019 [22]
	Strain		Fritzsche et al., 2021 [70]
Joint angle	Knee flexion	OTS	Bostelman et al., 2022 [18]
	Back rotation	IMU
	Back flexion	Depth perception camera	Yoon et al., 2022 [55]
	Trunk flexion	Monocular video	Rahman 2023 [20]
	Arm/shoulder flexion	Stereo video
Interaction force	Force between user and exoskeleton	Force Plates	Howard et al., 2020 [5]
		Deep-tissue oxygenation	Kermavnar 2020 [71]
		Pressure sensors	Kermavnar et al., 2018 [72]
			Huysamen et al., 2018 [73]
		Algometry: first-discomfort threshold (FDT), first-pain threshold (FPT), time to FDT	Kozinc et al. 2021 [74]
	Normal, shear
Posture	Postural control	Force plates	Kim et al.,  2018 [75]
	Asymmetry	OTS, video (pose estimation)	Waters et al.,  1994 [69]
	CoP displacement	Pressure walkway	Wu et al., 2022 [64]
Balance	CoP displacement	Pressure insoles
	Anterior–posterior (AP)
	Mediolateral
Kinematics	Human–exo alignment	OTS	Bostelman et al., 2022 [18]