ASTM F3517-21
(Practice)Standard Practice for Movement Tests When Using an Exoskeleton
Standard Practice for Movement Tests When Using an Exoskeleton
SIGNIFICANCE AND USE
5.1 This practice guides the user through selection and documentation of movement tests and procedures for use in evaluating exoskeletons while worn by the user. The practice is designed to allow replication of movements and tests. Fig. 1 shows a flow chart for performing movement test methods. Initially, the movement test is requested by a manufacturer, user/potential user, etc. as in box 1. The environment in which the test is to be performed is documented using Practice F3427 as in box 2a. If the movement test will also include an optional load handling test (for example, walking while carrying a load), the load handling portion of the test is documented using Practice F3443 as in box 2b. This practice is shown in box 3 where documentation of the movement and test results occurs. Evaluation of results occurs after the test has been completed as in box 4.
FIG. 1 Flow Chart for Performing Exoskeleton-User Movement Test Methods
Note 1: This practice is shown in the bold outlined box #3.
5.2 It is expected that this practice provides test guidance for many, although not all, movement activities using exoskeletons that may occur. However, the test method (see Section 8) provides examples to be used directly or as guidance for developing additional movement artifacts and movement tests.
SCOPE
1.1 This practice provides a structure for documenting test methods used to evaluate exoskeleton success criteria during a requested movement task and to ensure the movements can be completed to the criteria specified by the test requestor. The practice describes movement tasks, such as walking, running, transitioning, crawling, climbing, jumping, and combinations thereof, while not wearing and wearing an exoskeleton and while not handling or handling loads. The practice does not describe all movement tasks, types, or methods. Instead, this standard provides exoskeleton manufacturers and users with example movement test procedures for common movement tasks and a method to record movement and test parameters so that movement tasks can be replicated. The practice includes designs for a movement apparatus, and the appendix provides design details.
1.2 The test requestor shall provide input to the evaluation and provide the evaluation method, which may come from another standard, and should include, for example: precision, statistical validity, population selection criteria, and environmental conditions.
1.3 Output of the evaluation, that is, success criteria, are provided by the requestor. Movement tests may include success criteria for the user, such as: move to a goal, continuously move, or combinations thereof.
1.4 User movements may contain single or multiple joints.
1.5 Movements may include the user being within or outside of the exoskeleton during the test and may include the exoskeleton moving the user, or the user moving the exoskeleton, or combinations thereof.
1.6 If possible, tests using real or artifact test spaces and loads should be replicable and performed under environmental conditions representative of a real-world movement implementation.
1.7 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to imperial units. They are close approximate equivalents for the purpose of specifying material dimensions or quantities that are readily available to avoid excessive fabrication costs of test apparatuses while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard.
1.8 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.
1.9 ...
General Information
Relations
Standards Content (Sample)
This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the
Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
Designation: F3517 − 21
Standard Practice for
1
Movement Tests When Using an Exoskeleton
This standard is issued under the fixed designation F3517; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision.Anumber in parentheses indicates the year of last reapproval.A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope mathematical conversions to imperial units. They are close
approximate equivalents for the purpose of specifying material
1.1 This practice provides a structure for documenting test
dimensions or quantities that are readily available to avoid
methods used to evaluate exoskeleton success criteria during a
excessive fabrication costs of test apparatuses while maintain-
requested movement task and to ensure the movements can be
ing repeatability and reproducibility of the test method results.
completed to the criteria specified by the test requestor. The
Thesevaluesgiveninparenthesesareprovidedforinformation
practice describes movement tasks, such as walking, running,
only and are not considered standard.
transitioning, crawling, climbing, jumping, and combinations
1.8 This standard does not purport to address all of the
thereof, while not wearing and wearing an exoskeleton and
safety concerns, if any, associated with its use. It is the
while not handling or handling loads. The practice does not
responsibility of the user of this standard to establish appro-
describe all movement tasks, types, or methods. Instead, this
priate safety, health, and environmental practices and deter-
standard provides exoskeleton manufacturers and users with
mine the applicability of regulatory limitations prior to use.
example movement test procedures for common movement
1.9 This international standard was developed in accor-
tasks and a method to record movement and test parameters so
dance with internationally recognized principles on standard-
that movement tasks can be replicated. The practice includes
ization established in the Decision on Principles for the
designs for a movement apparatus, and the appendix provides
Development of International Standards, Guides and Recom-
design details.
mendations issued by the World Trade Organization Technical
1.2 The test requestor shall provide input to the evaluation
Barriers to Trade (TBT) Committee.
and provide the evaluation method, which may come from
another standard, and should include, for example: precision,
2. Referenced Documents
statistical validity, population selection criteria, and environ-
2
2.1 ASTM Standards:
mental conditions.
F3323Terminology for Exoskeletons and Exosuits
1.3 Output of the evaluation, that is, success criteria, are
F3427Practice for Documenting Environmental Conditions
provided by the requestor. Movement tests may include suc-
for Utilization with Exoskeleton Test Methods
cess criteria for the user, such as: move to a goal, continuously
F3443Practice for Load Handling When Using an Exoskel-
move, or combinations thereof.
eton
1.4 User movements may contain single or multiple joints.
F3474Practice for Establishing Exoskeleton Functional Er-
gonomic Parameters and Test Metrics
1.5 Movements may include the user being within or
2.2 Other Standards:
outside of the exoskeleton during the test and may include the
ISO 13482:2014Robots and robotic devices -- Safety re-
exoskeleton moving the user, or the user moving the
3
quirements for personal care robots
exoskeleton, or combinations thereof.
1.6 If possible, tests using real or artifact test spaces and
3. Terminology
loads should be replicable and performed under environmental
3.1 General terminology for ASTM Committee F48 stan-
conditionsrepresentativeofareal-worldmovementimplemen-
dardsarelistedinTerminologyF3323.Terminologyspecificto
tation.
this standard are shown in this section.
1.7 The values stated in SI units are to be regarded as the
standard. The values given in parentheses are not precise
2
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
1
This practice is under the jurisdiction of ASTM Committee F48 on Exoskel- Standards volume information, refer to the standard’s Document Summary page on
etons and Exosuits and is the direct responsibility of Subcommittee F48.03 on Task the ASTM website.
3
Performance and Environmental Considerations. Available from International Organization for Standardization (ISO), ISO
Current edition approved June 15, 2021. Published July 2021. DOI: 10.1520/ Central Secretariat, Chemin de Blandonnet 8, CP 401, 12
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