At the end of all tasks and exoskeleton conditions, participants were asked to choose their preferred exoskeleton design for each task.

At the end of all 4 tasks (one- & two-handed lifting, static assembly, pushing/pulling), participants marked the perceived contact pressure exerted by each exoskeleton on different body (e.g., thighs, chest) as no, low, medium, or high pressure (coded by different colors).