An Index System and Quantitative Evaluation Method for Exoskeleton Efficacy Assessment Based on Multi-Source Signal Fusion

(1) Background: Exoskeleton systems are being used increasingly in medical rehabilitation and industrial assistance. Accurate evaluation of their performance is crucial for optimising design and improving performance. In this paper, we propose a performance evaluation index system for exoskeletons and a quantitative evaluation method based on multi-source signal fusion. (2) Methods: The system utilises a variety of sensors for signal collection, encompassing sEMG and MMG, which are indicative of muscular fatigue, along with IMU signals, which demonstrate the movement of both the exoskeleton and the human body. This is then combined with the subjective evaluation scale to constitute the exoskeleton effectiveness assessment index system. (3) Results: This study evaluates two types of material handling exoskeletons. The findings indicate that the ultimate scores for the single-hip and hip-knee exoskeletons are 0.625 and 0.845, respectively. (4) Conclusions: A comparison of the indexes of the two exoskeletons and the subjective evaluations of the testers reveals that this method effectively quantifies the exoskeleton’s human metabolism, human–machine synergy and performance in working conditions, as well as the perceived effectiveness of assistance in different working conditions.