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ASTM F3578-22

(Test Method)

Standard Test Method for Evaluating Exoskeleton Fall Risk due to Stumbling

Standard Test Method for Evaluating Exoskeleton Fall Risk due to Stumbling

SIGNIFICANCE AND USE
5.1 There is strong evidence that exoskeletons can physically augment and assist users. They are typically designed and optimized with specific tasks in mind and initially tested in controlled lab or field settings. However, in the real world exoskeletons encounter less structured environments and situations (for example, hospital rooms, factory floors, construction sites, or even personal homes). In order to accelerate the adoption of exoskeletons in society, understanding their safety in the presence of perturbations is helpful. The testing results of the exoskeleton shall describe the extent to which the exoskeleton improves, inhibits, or maintains a user’s ability to recover from stumbles, thus providing exoskeleton wearers and prescribers (for example, patients, clinicians, industry leaders, factory workers) with additional information about device performance and expectations.  
5.2 The standard test apparatus and setup (see Section 6) is specified to be easily fabricated and implemented in gait or motion analysis laboratories. Variants of the apparatus, control algorithm, and test setup are acceptable to allow implementation in various lab settings with ranging experimental capabilities. The standard test setup and apparatus can also be used to support training and establish proficiency of exoskeleton users, as well as provide manufacturers with information about the performance of their exoskeleton(s) for tasks.
SCOPE
1.1 Purpose:  
1.1.1 The purpose of this test method is to evaluate the extent to which an exoskeleton (see Section 3) improves, inhibits, or maintains (that is, does not affect) a user’s ability to recover from a stumble perturbation.  
1.1.2 Exoskeletons are designed to assist specific tasks and initially tested in controlled lab or controlled field settings. However, in the real world exoskeletons encounter less structured environments and situations (for example, hospital rooms, factory floors, construction sites). Even without exoskeletons people will stumble (that is, trip) or scuff their foot. It would be helpful to understand how wearing an exoskeleton affects a person’s ability to recover from a stumble perturbation. Is one’s ability to recover hampered, enhanced, or unaltered when using an exoskeleton? This test method specifies test setup, procedure, and recording to standardize testing exoskeleton user stumble recovery.  
1.2 Performing Location—This test method shall be performed in a testing laboratory where the specified apparatus and environmental conditions are available and implemented.  
1.3 Units—The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to inch-pound 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.  
1.4 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.  
1.5 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.

General Information

Status
Published
Publication Date
14-Jun-2022
ICS
11.180.10 - Aids and adaptation for moving
25.040.30 - Industrial robots. Manipulators
Technical Committee
F48 - Exoskeletons and Exosuits
Drafting Committee
F48.02 - Human Factors and Ergonomics
Current Stage
Ref Project

Relations

Refers
ASTM F3427-20 - Standard Practice for Documenting Environmental Conditions for Utilization with Exoskeleton Test Methods
Effective Date
01-Mar-2020
Refers
ASTM F3443-20 - Standard Practice for Load Handling When Using an Exoskeleton
Effective Date
15-Jun-2020

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ASTM F3578-22 - Standard Test Method for Evaluating Exoskeleton Fall Risk due to StumblingASTM F3578-22 - Standard Test Method for Evaluating Exoskeleton Fall Risk due to Stumbling
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ASTM F3578-22 - Standard Test Method for Evaluating Exoskeleton Fall Risk due to Stumbling
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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: F3578 − 22
Standard Test Method for
1
Evaluating Exoskeleton Fall Risk due to Stumbling
This standard is issued under the fixed designation F3578; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope ization established in the Decision on Principles for the
Development of International Standards, Guides and Recom-
1.1 Purpose:
mendations issued by the World Trade Organization Technical
1.1.1 The purpose of this test method is to evaluate the
Barriers to Trade (TBT) Committee.
extent to which an exoskeleton (see Section 3) improves,
inhibits, or maintains (that is, does not affect) a user’s ability to
2. Referenced Documents
recover from a stumble perturbation.
2
2.1 ASTM Standards:
1.1.2 Exoskeletons are designed to assist specific tasks and
F3323 Terminology for Exoskeletons and Exosuits
initially tested in controlled lab or controlled field settings.
F3427 Practice for Documenting Environmental Conditions
However, in the real world exoskeletons encounter less struc-
for Utilization with Exoskeleton Test Methods
tured environments and situations (for example, hospital
F3443 Practice for Load Handling When Using an Exoskel-
rooms, factory floors, construction sites). Even without exo-
eton
skeletons people will stumble (that is, trip) or scuff their foot.
F3474 Practice for Establishing Exoskeleton Functional Er-
It would be helpful to understand how wearing an exoskeleton
gonomic Parameters and Test Metrics
affects a person’s ability to recover from a stumble perturba-
tion. Is one’s ability to recover hampered, enhanced, or
3. Terminology
unaltered when using an exoskeleton? This test method speci-
3.1 General terminology for ASTM Committee F48 stan-
fies test setup, procedure, and recording to standardize testing
dards is listed in Terminology F3323. Terminology specific to
exoskeleton user stumble recovery.
this standard are shown in this section.
1.2 Performing Location—This test method shall be per-
3.2 Definitions:
formed in a testing laboratory where the specified apparatus
3.2.1 apparatus, n—a structure, object, test component, or
and environmental conditions are available and implemented.
artifactthereof,foundorplacedinanenvironmentandusedfor
1.3 Units—The values stated in SI units are to be regarded
a test.
as the standard.The values given in parentheses are not precise
3.2.2 artifact, n—a representative of real structure(s),
mathematical conversions to inch-pound units. They are close
object(s), or test component(s) and used for a test.
approximate equivalents for the purpose of specifying material
3.2.3 perturbation, n—external disruption to body move-
dimensions or quantities that are readily available to avoid
excessive fabrication costs of test apparatuses while maintain- ment; in this standard, a perturbation specifically refers to a
disruption to the lower limb trajectory during swing phase of
ing repeatability and reproducibility of the test method results.
These values given in parentheses are provided for information gait due to an obstacle.
only and are not considered standard.
3.2.4 scuff, n—perturbation to the bottom of the foot during
1.4 This standard does not purport to address all of the swing phase.
safety concerns, if any, associated with its use. It is the
3.2.5 stumble, n—the act of tripping or losing balance as a
responsibility of the user of this standard to establish appro-
result of a perturbation to the front of the foot/toe during swing
priate safety, health, and environmental practices and deter-
phase.
mine the applicability of regulatory limitations prior to use.
4. Summary of Test Method
1.5 This international standard was developed in accor-
dance with internationally recognized principles on standard-
4.1 The task for this test method, exoskeleton user stumble
recovery, is defined as the exoskeleton user stumbling during
1
This test method is under the jurisdiction of ASTM Committee F48 on
2
Exoskeletons and Exosuits and is the direct responsibility of Subcommittee F48.02 For referenced ASTM standards, visit the ASTM website, www.astm.org, or
on Human Factors and Ergonomics. contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Current edition approved June 15, 2022. Published July 2022. DOI: 10.1520/ Standards volume information, refer to the standard’s Document Summary page on
F3578-22. the ASTM website.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700,
...

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5.1 The significance of the information to be recorded in a test report allows for exoskeleton safety and performance to be contextualized with the exoskeleton configuration. Exoskeleton tests can also be replicated across similar or different exoskeletons by using this practice to record the exoskeleton test configuration in a standardized way.  
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1.1 This practice describes a means to record the exoskeleton configuration when testing. This practice provides a method for recording exoskeleton hardware and software control parameters.  
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5.1 Obstacles can vary greatly in, for example: length, width, height, quantity, geometry, and for a variety of industries. Fig. 2 shows examples of various obstacles.  
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1.1 Purpose:  
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SIGNIFICANCE AND USE
5.1 The significance of the information to be recorded in a test report allows for exoskeleton safety and performance to be contextualized with the exoskeleton user. Exoskeleton test results can be compared across users to determine exoskeleton usefulness, exoskeleton capability for particular users or groups of users, and standardized reporting of user information allows organizations to better replicate tests.  
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5.3.1 2012 Anthropometric Survey (ANSUR II6) of U.S. Army Personnel: Methods and Summary Statistics,  
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5.3.3 Tables D6240/D6240M,  
5.3.4 Tables D8077/D8077M,  
5.3.5 Tables D7878/D7878M,  
5.3.6 Tables D6960/D6960M,  
5.3.7 Terminology D5219,  
5.3.8 Tables D8241/D8241M,  
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5.3.10 Practice F1731, and  
5.3.11 ISO 7250-1.
SCOPE
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1.1 Purpose:  
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SIGNIFICANCE AND USE
5.1 The significance of the information to be recorded in a test report allows for exoskeleton safety and performance to be contextualized with the exoskeleton fit to the user. Exoskeleton tests can also be replicated across similar or different exoskeletons by using this practice to record the exoskeleton fit to the user for a test in a standardized way.  
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SCOPE
1.1 This practice describes a means to record the exoskeleton fit to the user when testing. The practice provides a method for recording exoskeleton: alignment to the user, component distances from the body, sizing, and subjective comfort using a standard recording method.  
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SIGNIFICANCE AND USE
5.1 Beams and beams with platforms can vary greatly in, for example: length, width, height, quantity, geometry, surface coatings, and for a variety of industries. Fig. 2 shows examples of various beams and beams with platforms.
FIG. 2 Example Beams: (a) Steel Construction Beams; (b) Steel Construction Beam to a Platform; (c) Log Construction Beam; (d) Playground Log Beam; (e) Log Beam across Water; and (f) Balance Beam used for Gymnastics  
5.2 Exoskeletons are being used in the industrial/occupational, military, response, medical, and recreational sectors to enhance safety and effectiveness of the user to perform tasks. Traversing beams are used in many tasks performed and may include, for example, upper, lower, or full body movement in order to complete the task. Dependent upon the task, it may require people to traverse various ground and beam surfaces while wearing an exoskeleton. For example, an exoskeleton may be used to help during construction tasks where workers in exoskeletons traverse beams or beams and platforms with and without carrying loads, indoors or outdoors, as part of their daily activities. The testing results of exoskeletons shall describe, in a statistically significant way (see guidance in Appendix X1), how reliably the exoskeleton is able to support tasks within the specified types of environments, confinements, and terrains, and thus provide sufficiently high levels of confidence to determine the applicability of the exoskeleton.  
5.3 This test method addresses exoskeleton safety and performance requirements expressed by manufacturing, emergency responders, military, or other organizations requesting this test. The safety and performance data captured within this test method are indicative of the test exoskeleton’s and the exoskeleton user’s capabilities. Having available direct information from tested exoskeleton(s) with associated performance data to guide procurement and deployment decisions is essential to exoskeleton purchasers an...
SCOPE
1.1 Purpose:  
1.1.1 The purpose of this test method, as a part of a suite of exoskeleton use test methods, is to quantitatively evaluate an exoskeleton’s (see Terminology F3323) safety (see 1.4) or performance, or both, when traversing beams.  
1.1.2 Exoskeletons shall possess a certain set of allowable exoskeleton user movement capabilities, including user-motion adaptability, to suit operations such as: industrial/occupational, military, response, medical, or recreational.  
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1.1.4 Exoskeletons need to function as intended, regardless of types of tasks and terrain complexities (for example, carpet, metal, masonry, rock, wood). Required movement capabilities may include, for example: walking, running, crawling, climbing, traversing gaps, hurdles, stairs, beams, slopes, various types of floor surfaces or terrains, or confined spaces, or combinations thereof. Standard test methods are required to evaluate whether or not exoskeletons meet these requirements.  
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SIGNIFICANCE AND USE
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5.4 The testing results of the candidate exoskeleton(s) shall describe, in a statistically significant way, how reliably the exoskeleton user is able to negotiate hurdles. The test apparatus described in Section 6 is intended to be a single or set of hurdles where repeatable re...
SCOPE
1.1 Purpose:  
1.1.1 The purpose of this test method, as a part of a suite of exoskeleton use test methods, is to quantitatively evaluate an exoskeleton’s (see Terminology F3323) safety (see 1.4) or performance, or both, for traversing hurdles.  
1.1.2 Exoskeletons possess a certain set of allowable exoskeleton user movement capabilities, including user-motion adaptability, to suit operations such as: industrial/occupational, military, response, medical, or recreational. Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to traverse hurdles, as intended by the user or test requestor, while using an exoskeleton is essential for exoskeleton deployment for a variety of tasks (for example, traversing logs, objects). This test method specifies test setup, procedure, and recording to standardize this hurdles task for testing exoskeleton user movement.  
1.1.3 Exoskeletons need to function as intended, regardless of types of tasks and terrain complexities (for example, carpet, metal, masonry, rock, wood). Required movement capabilities may include, for example: walking, running, crawling, climbing, traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, or confined spaces, or any combination thereof. Standard test methods are required to evaluate whether or not exoskeletons meet these requirements.  
1.1.4 ASTM Subcommittee F48.03 develops and maintains international standards for task performance and environmental considerations that include but are not limited to, standards for safety, quality, and efficiency. This subcommittee aims to develop standards for any exoskeleton application as exemplified as in 1.1.2. The F48.03 test suite consists of a set of test methods for evaluating exoskeleton capability requirements. This hurdles test method is a part of the test suite. The setup, procedure, and apparatuses associated wi...

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ASTM F3519-21(Guide)
Standard Guide for Establishing a Reporting Structure for Exoskeleton Analysis

SIGNIFICANCE AND USE
3.1 This guide describes a template of written considerations that should be provided by the manufacturer to the purchaser related to the documenting of exoskeleton analysis. Adherence to this guide allows analysis results of varied exoskeleton manufacturers to be compared by a purchaser with respect to their end user needs.  
3.2 Not every element of this guide may be applicable to all exoskeleton components or configurations. It is the manufacturer’s responsibility to determine which portions of this guide are applicable to their exoskeletons for analysis reporting.
SCOPE
1.1 This guide provides a structure for exoskeleton manufacturers to document their analysis. Furthermore, this guide should be used in conjunction with Practice F3474, Guide F3518, Standard Guide for The Application of Ergonomics to Prevent Injury During Exoskeleton Use2 and other future documents.  
1.2 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.  
1.3 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.

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ASTM F3474-20(Practice)
Standard Practice for Establishing Exoskeleton Functional Ergonomic Parameters and Test Metrics

SIGNIFICANCE AND USE
2.1 This practice describes what measure should be performed during the near (hours/days), mid (days/weeks), and far (months/years) stages of exoskeleton evaluation (Fig. 1). The functional conditions and metrics with respect to each task method are assessed from the body area(s) impacted by the exoskeleton (for example, upper body, lower body, or both). These may be within as well as distant to the body areas impacted by the exoskeleton (for example, an upper body exoskeleton may have impacts on the trunk and spine). Desired effects as well as unintended encumbrances to the user’s body are important considerations. The evaluation will occur within the context relevant to the end-use application of the exoskeleton’s implementation. This practice pertains to the industry, military, medical, first responders, and recreational domains, but other domains may arise in the future and will need to be considered. Each domain is unique unto itself; however, the task methods and metrics collected may be unique or overlap across any number of user domains.
FIG. 1 Exoskeleton Assessment Decision Tree  
2.2 Task methods and their metrics are either administered in a laboratory environment, field environment, or both laboratory and field environments. Where not otherwise specified, patient functional outcome measures and pain are key metrics that should be considered for testing performed in the medical domain. Exoskeleton producers or researchers, or both, may also want to consider different types of imaging such as X-rays, computed tomography (CT) scans, magnetic resonance imaging (MRI), ultrasound, and nuclear medicine imaging. Additionally, exoskeleton producers or researchers, or both, may also wish to carry out neuroimaging such as, but not limited to, structural and functional and diffusion MRI, magnetoencephalography (MEG), electroencephalography (EEG), positron emission tomography (PET), or near infrared spectroscopy (NIRS) to understand the cognitive and neurophysiol...
SCOPE
1.1 This practice provides a recommended approach and a set of options for assessing one or more specific ergonomic parameters with respect to human users of exoskeletons.  
1.2 This practice provides functional ergonomic criteria to consider for the design, production, and evaluation of exoskeletons within the domains of industry, military, medical, first responders, and recreational. When designing exoskeletons, natural unassisted human kinematics and kinetics, as well as the resulting strain and fatigue experienced by the user should be salient design parameters. Any changes in the natural unassisted human kinematics and kinetics may impact the exoskeleton’s effectiveness in augmenting user performance. Therefore, the defining principle of this practice is to establish objective measures that can be selected from to assess human kinematics and kinetics, as well as the resulting strain and fatigue experienced by the user within the task context of the exoskeleton’s end use application.  
1.3 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.  
1.4 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.

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ASTM F3392-20(Practice)
Standard Practice for Exoskeleton Wearing, Care, and Maintenance Instructions

SIGNIFICANCE AND USE
4.1 This practice describes the minimum information to be provided by the manufacturer to the end user related to the wearing, care, and maintenance of an exoskeleton. Adherence to this practice allows written information to be provided with the exoskeleton to purchasers.  
4.2 Not every element of this practice may be applicable to all exoskeleton components or configurations. It is the manufacturer’s responsibility to determine which portions of this practice, and the corresponding requirements, are applicable to their exoskeletons. For informational requirements that are not applicable because of the nature of the product and intended use, the manufacturer shall indicate and describe those portions or requirements that are not applicable.  
4.3 All information related to wearing, decontamination, care, and maintenance shall be written in a manner so that the end user can readily understand the details. To emphasize important limitations, bold lettering and explicit warning terminology (for example, signal words such as ‘danger,’ ‘warning,’ and ‘caution’ (described in ANSI Z535.4)) shall be used. Where possible, pictograms and illustrations may be used to convey specific instructions. In addition, the use of symbols, such as those provided in the care of textile products in Guide D5489, are appropriate for indicating specific care procedures used in cleaning an exoskeleton where applicable.
SCOPE
1.1 This practice describes the required minimum information to be conveyed by the manufacturers to buyers or end users for the wearing, care, and maintenance of exoskeletons.  
1.1.1 This practice does not cover specific instructions for how to select and when to use exoskeletons or design requirements.  
1.2 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.  
1.3 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.

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