The AUEQ: Development and Validation of the Agricultural Exoskeleton Usability Evaluation Questionnaire for Arm- and Leg-Support Devices

OBJECTIVES: The study aimed to develop a comprehensive and psychometrically validated subjective usability evaluation system tailored for arm- and leg-support exoskeletons used in labor-intensive agricultural tasks. Existing assessment methods often overlook user-centric factors, limiting the broader adoption of exoskeleton technologies in real-world settings. METHODS: Experiments were conducted using arm- and leg-support exoskeleton types across multiple agricultural tasks. A total of 68 participants took part in three different experimental settings. Subjective usability data were collected through questionnaires and analyzed using exploratory factor analysis to identify underlying usability dimensions. Retrospective item refinement was conducted to enhance the validity and reliability of the evaluation system. RESULTS: Four key usability factors were identified: effectiveness, wearability, safety, and learnability, each demonstrating high internal consistency. Based on these factors, a final 24-item usability questionnaire was developed. The system captures both practical and ergonomic considerations relevant to agricultural exoskeleton use. CONCLUSION: The proposed evaluation system addresses the limitations of conventional exoskeleton assessments by incorporating subjective usability dimensions. It provides a reliable, user-centered framework that can be widely applied to improve exoskeleton design, enhance user experience, and support successful deployment in agricultural environments.