Harnesses are used in wearable robots in safety, sports, medical, and industrial environments. Wearable robot harnesses for lower extremities should be designed to prevent musculoskeletal disorders caused by excessive strain on the spine and lower extremities when users wear these robots for prolonged periods. Therefore, this study compares and analyzes the usability of the two harnesses—the former (old design) and the latter (new design)—for the Hyundai chairless exoskeleton (CEX). In total, 27 participants took part in this study. The wearability, stability, and overall wearing satisfaction of the former and the latter harnesses were compared. We conducted an experiment where the participants wore the former and the latter harnesses while completing a series of tasks that resembled the ones performed by the workers on a front-end module assembling line of an automobile factory. After the experiment, the participants took part in a survey and semi-structured interviews. The data was analyses by t-test, correlation, and regression analyses. The survey results demonstrated that for the latter harness the cushioning sensation (thigh r = 0.539; calf r = 0.516) had the strongest effect on the overall wearing satisfaction. In addition, the latter harness scored higher in overall wear satisfaction than the previous harness. This study was able to verify the difference between the new and old designs according to the usability evaluation of the harness. The results of this study are considered to be helpful in design to improve the usability of the harness in the future.

线束用于安全、运动、医疗和工业环境中的可穿戴机器人。下肢可穿戴式机器人安全带的设计应能防止用户长时间佩戴这些机器人时因脊柱和下肢过度紧张而导致的肌肉骨骼疾病。因此，本研究比较和分析了现代无椅外骨骼 (CEX) 的两种安全带——前者（旧设计）和后者（新设计）的可用性。总共有 27 名参与者参加了这项研究。比较了前者和后者背带的耐磨性、稳定性和整体佩戴满意度。我们进行了一个实验，参与者穿着前者和后者的安全带，同时完成一系列类似于工人在汽车工厂前端模块装配线上执行的任务。实验结束后，参与者参加了调查和半结构化访谈。数据由以下人员分析t检验、相关性和回归分析。调查结果表明，对于后一种安全带，缓冲感（大腿r  = 0.539；小腿r  = 0.516）对整体佩戴满意度的影响最强。此外，后者的安全带在整体佩戴满意度方面得分高于之前的安全带。本研究能够根据线束的可用性评估来验证新旧设计之间的差异。这项研究的结果被认为有助于设计以提高未来安全带的可用性。