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This article discusses a new approach to setting exoskeleton assistance profiles that uses a machine learning algorithm to offer pairs of assistance profiles that are most likely to be comfortable for the wearer. The user then selects one of these two, and the predictor offers another assistance profile that it believes might be better. This approach was tested with 14 participants, and the results showed that the algorithm was able to accurately predict the user’s preferences with an average of nine out of ten correct choices.