Fig. 7

Diverging bar charts of user responses to the Likert Scale Questionnaire of five points. Questions were the following: \(Q_1\): I experienced side-effects or discomforts during the session; \(Q_2\): I felt comfortable with the exoskeleton; \(Q_3\): Control of the exoskeleton was reliable and practical; \(Q_4\): After completing the training, I felt safe using the exoskeleton; \(Q_5\): The preparation/attaching process was comfortable for me; \(Q_6\): The calibration instructions were easy to follow; \(Q_7\): I felt discomfort/pain when the electrodes/exoskeleton were attached; \(Q_8\): At any time, I was able to interrupt/veto the exoskeleton when I disagreed with the control or experienced discomforts