While the effort and risk in this event are tremendous and worthy of note, it was so underwhelming that the first comparison that came to mind was those people who stand up on the seats of a limo and wave at the passersby from the open sun roof. Weeee!
The suits seemed almost entirely unsuitable for movement outside of the spacecraft, but it did give me an idea that I have not seen in space suits before.
The problem for inflated suits is the pressure inside causes the suit to distend. Bending reduces the volume inside the suit, this requires mechanical work in the amount of pressure times delta-volume and keeping the bend requires continuous muscle contraction to resist the loads from the pressure trying to re-extend. It looked to me that the orbital crew was getting exhausted from just a few minutes of movement.
I think the way to go is to create an exoskeleton that manages that force. While powered exoskeletons have been seen as a way to augment factory workers and soldiers to lift and carry excessive loads, the needs for a space suit are significantly reduced. Small actuators with cable-in-tube connections along the arms and legs can perform that task, or inflatable bladders that add counter force. There are several approaches to pick up the desired motion directly from the suit wearer, but even something as simple as a switch in the glove that told the system to hold a position would be a help to let the wearer hold position and rest. Counterbalancing the fingers would be a bonus. Since it is used to counterbalance the pressure, which the wearer should already be able to do, over powering them in case of malfunction isn't a particular risk.
Anyway, WEEEEEEEE!