The exoskeleton is designed to assist care workers in lifting patients or heavy objects throughout the day. This device reduces the burden on the worker’s back when lifting, lowering, carrying and long-time bending, protecting their spine and lower limb while reducing the chance of low back pain, and improving the overall endurance of the worker. By implementing an intelligent actuation system, the device can provide adaptive assistance depending on the need and working scenario of the workers. The exoskeleton is developed with a low-cost modular design and to have a customized patient-friendly appearance design by utilizing 3D printing technology. This design option also reduces the overall weight of the system while keeping the capability of generating assistance that is three times greater than the weight of the device. Experimental assessment has shown the exoskeleton can reduce the user’s musculoskeletal burden to lift a 15 kg load by up to 36%, indicating the effectiveness of reducing the chance of low back pain and enhancing the endurance of the worker.