You can just understand proof assistants as an effort to design a language for mathematical proofs, and a procedure to verify them mechanically. (Spelled out like this, it sounds a lot like Hilbert's program -- we have just understood since then that you cannot hope to have a "perfect" proof assistant.) The availability of computers means that you can actually implement the verification process and run it, but if you do not want to involve computers in the process (because you do not "trust" them, or whatever), you could always check such proofs by hand, in principle.
In a sense, a proof designed for a computer assistant is one that can be verified without any intelligence required from the reader.