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ASTM F3584-22

(Test Method)

Standard Test Method for Exoskeleton Use: Obstacle Avoidance: Walking

Standard Test Method for Exoskeleton Use: Obstacle Avoidance: Walking

SIGNIFICANCE AND USE
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.  
FIG. 2 Example Obstacles in: (a) Road Construction; (b) Warehouse; (c) Manufacturing: Floor; (d) Manufacturing: Overhead; (e) Military Obstacle Course  
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. Many tasks involve avoiding obstacles, and may include for example, upper, lower, or full body movement in order to complete the task. As there are infinite obstacles and ways that obstacle courses can be designed, this test method addresses obstacle avoidance while walking through a standard set of obstacles. Dependent upon the task, it may require people to traverse various environmental conditions (for example, ground) and avoid obstacles while wearing an exoskeleton. For example, an exoskeleton may be used to help during construction or in medical facilities where workers in exoskeletons avoid obstacles with and without carrying loads as part of their daily activities. In military, manufacturing, and response areas, exoskeleton users may for example, step over or under, side-step between, or walk around obstacles, or combinations thereof, to perform the task at hand. Variations to obstacle avoidance may include, for example, increased user speed/momentum, load handling, and distractions that may change user performance when avoiding obstacles. 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 require...
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 avoiding obstacles.  
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.  
1.1.3 Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to avoid obstacles while walking, as intended by the user or test requestor, while using an exoskeleton is essential for exoskeleton deployment for a variety of tasks (for example, ascending/descending stairs, crossing gaps and hurdles, balancing on a beam). This test method specifies test setup, procedure, and recording to standardize this obstacle avoidance task for testing exoskeleton user movement.  
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, slopes; avoiding obstacles, on various types of floor surfaces or terrains, or within confined spaces, or combinations thereof. Standard test methods are required to evaluate whether or not exoskeletons meet these requirements while also allowing test repeatability.  
1.1.5 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 ...

General Information

Status
Published
Publication Date
14-Nov-2022
ICS
11.180.10 - Aids and adaptation for moving
25.040.30 - Industrial robots. Manipulators
Technical Committee
F48 - Exoskeletons and Exosuits
Drafting Committee
F48.03 - Task Performance and Environmental Considerations
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 F3444/F3444M-20 - Standard Practice for Training Exoskeleton Users
Effective Date
01-Jun-2020
Refers
ASTM F3443-20 - Standard Practice for Load Handling When Using an Exoskeleton
Effective Date
15-Jun-2020

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ASTM F3584-22 - Standard Test Method for Exoskeleton Use: Obstacle Avoidance: WalkingASTM F3584-22 - Standard Test Method for Exoskeleton Use: Obstacle Avoidance: Walking
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ASTM F3584-22 - Standard Test Method for Exoskeleton Use: Obstacle Avoidance: Walking
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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: F3584 − 22
Standard Test Method for
1
Exoskeleton Use: Obstacle Avoidance: Walking
This standard is issued under the fixed designation F3584; 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 able ways to facilitate comparison of different exoskeleton
models or exoskeleton capabilities to tasks.
1.1 Purpose:
1.1.6 The test methods quantify elemental exoskeleton use
1.1.1 The purpose of this test method, as a part of a suite of
capabilities necessary for sector applications listed in 1.1.2 and
exoskeleton use test methods, is to quantitatively evaluate an
perhaps other applications. As such, users of this standard
exoskeleton’s (see Terminology F3323) safety (see 1.4) or
should use either the entire suite or a subset based on their
performance, or both, when avoiding obstacles.
particular requirements. Users are also allowed to weigh
1.1.2 Exoskeletons shall possess a certain set of allowable
particular test methods or particular metrics within a test
exoskeleton user movement capabilities, including user-motion
method differently, based on their specific requirements. The
adaptability, to suit operations such as: industrial/occupational,
testing results should collectively represent an exoskeleton’s
military, response, medical, or recreational.
overall safety or performance, or both, as required for the task.
1.1.3 Environments in these typical sectors often pose
These performance data can be used: to guide procurement
constraints to exoskeleton user movement to various degrees.
specifications, for acceptance testing, and for training to use
Being able to avoid obstacles while walking, as intended by the
exoskeletons intended for specified applications.
user or test requestor, while using an exoskeleton is essential
for exoskeleton deployment for a variety of tasks (for example,
NOTE 1—Additional test methods within the suite are anticipated to be
developed to address additional exoskeleton capability requirements,
ascending/descending stairs, crossing gaps and hurdles, balanc-
including newly identified requirements and for new application domains.
ing on a beam). This test method specifies test setup,
procedure, and recording to standardize this obstacle avoidance 1.2 Exoskeleton—The exoskeleton shall be used as intended
task for testing exoskeleton user movement. by the manufacturer to perform the test described in this test
1.1.4 Exoskeletons need to function as intended, regardless method. If the exoskeleton is not designed for obstacle avoid-
of types of tasks and terrain complexities (for example, carpet, ance while walking and the test requestor intends to use the
metal, masonry, rock, wood). Required movement capabilities exoskeleton to perform an obstacle avoidance test (for
may include, for example: walking, running, crawling, climb- example, for research, development of obstacle avoidance-
ing; traversing gaps, hurdles, stairs, slopes; avoiding obstacles, capable use by a manufacturer, training as in military
on various types of floor surfaces or terrains, or within confined applications), appropriate manufacturer approvals should be
spaces, or combinations thereof. Standard test methods are sought prior to performing the test method.
required to evaluate whether or not exoskeletons meet these
1.3 Performing Location—This test method shall be per-
requirements while also allowing test repeatability.
formed in a testing laboratory or the field where the specified
1.1.5 ASTM Subcommittee F48.03 develops and maintains
apparatus and environmental conditions are implemented.
international standards for task performance and environmental
1.4 Units—The values stated in SI units are to be regarded
considerations that include but are not limited to, standards for
as the standard. The values given in parentheses are not precise
safety, quality, and efficiency. This subcommittee aims to
mathematical conversions to inch-pound units. They are close
develop standards for any exoskeleton application as exempli-
approximate equivalents for the purpose of specifying material
fied as in 1.1.2. The F48.03 test suite consists of a set of test
dimensions or quantities that are readily available to avoid
methods for evaluating exoskeleton capability requirements.
excessive fabrication costs of test apparatuses while maintain-
This obstacle avoidance test method is a part of the test suite.
ing repeatability and reproducibility of the test metho
...

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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 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 Additional user measurement information may be found in the following references:
Note 1: The measurements in these references may not consider measurements of the user when dressed in appropriate clothing (for example, shoes – see 6.3.12 – 6.3.14) that will be worn when using an exoskeleton.  
5.3.1 2012 Anthropometric Survey (ANSUR II6) of U.S. Army Personnel: Methods and Summary Statistics,  
5.3.2 United States Air Force Research Laboratory Civilian American and European Surface Anthropometry Resource (CAESAR7) Final Report,  
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,  
5.3.9 Practice E3003,  
5.3.10 Practice F1731, and  
5.3.11 ISO 7250-1.
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Standard Test Method for Exoskeleton Use: Hurdles

SIGNIFICANCE AND USE
5.1 Hurdle designs can vary greatly in, for example: hurdle geometry, surface coatings, and coverings for a variety of industries. Fig. 1 shows examples of various hurdles.  
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. Hurdles are used in many tasks performed and may include, for example, upper, lower, or full body movement in order to complete the task. For example, an exoskeleton may be used to help rehabilitate a patient who suffered a traumatic injury. And in manufacturing, warehousing, and other occupations, and other similar environments, workers in exoskeletons may traverse hurdles (for example, obstacles) in the walkways while carrying or not carrying loads, indoors or outdoors, as part of their daily activities. The testing results of exoskeletons shall describe, in a statistically significant way, 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.  
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SCOPE
1.1 Purpose:  
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SIGNIFICANCE AND USE
5.1 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 gaps is a component of many tasks that someone would do with an exoskeleton. For example, an exoskeleton may be used to help a worker in building construction where gaps in ground surfaces are prevalent. In the military, and other similar environments, soldiers using exoskeletons may traverse gaps along paths carrying loads. Fig. 1 shows examples of gaps typically found in various environments in which persons using exoskeletons may be required to step over gaps. The testing results of exoskeletons shall describe, in a statistically significant way, 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 to a given task.  
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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.  
1.1.3 Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to traverse beams, as intended by the user or test requestor, while using an exoskeleton, is essential for exoskeleton deployment for a variety of tasks (for example, ascending/descending stairs, ramps, hills). This test method specifies test setup, procedure, and recording to standardize this beams task for testing exoskeleton user movement.  
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.  
1.1.5 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 beams test method is a part of the test suite. The setup, procedure,...

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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.

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ASTM
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
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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