This thesis presents a human comfort perception analysis wearing a novel wheeled exoskeleton. Usually, many attentions are given to the exoskele-ton machine design but, in many cases, without considering the human comfort point of view. This paper merges the design of the novel wheeled exoskeleton machine, here proposed in a first time, with the analysis of the human comfort perception. The simulation of the human muscular activation are performed using Opensim software and the comfort analyses are done thanks to literature review. Results underline how the human comfort perception analysis, on a wearable machine, may optimize the design process, accelerating the realiza-tion of a comfortable wearable hardware by the user.