Honestly, I don't know that much about rehab medicine. I do know that it should be possible. Still what do you do about braces? I know of several patients getting excellent treatment who suffered pressure ulcers from braces. Most were living independently and working.
I don't see any reason why ANY device that presses on the skin cannot be equipped with some form of "active padding". Of course, the smaller the area of contact, the more difficult it becomes.