ASTM F3576-22

Standard Practice for Recording the Exoskeleton Test Configuration

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 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.  
5.2 Limitations of the practice are that not all exoskeletons have the same capabilities or configuration parameters. For example, for capabilities, an exoskeleton that moves the legs with electromyography during rehabilitation may behave differently in repeated use over time or within different gait courses (for example, straight or curved). For configuration, an exoskeleton that moves the legs with electromyography during rehabilitation may have varying signal gain/amplification settings.
SCOPE
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.  
1.2 This practice: contextualizes the exoskeleton configuration during a test, including the identification and adjustment of main configuration parameters and the addition of other equipment (for example, cameras, markers) used during tests; provides a basis for comparison of the test circumstances across different exoskeletons or tests, or both (for example, varying power or spring settings, prior exoskeleton use, maximum control settings); and allows a test to be recreated.  
1.3 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 exoskeleton characteristics 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: 30-Nov-2022
• ICS: 11.180.10 - Aids and adaptation for moving
• ICS: 25.040.30 - Industrial robots. Manipulators
• Technical Committee: F48 - Exoskeletons and Exosuits
• Drafting Committee: F48.03 - Task Performance and Environmental Considerations

Relations

• Refers: ASTM F3323-19a - Standard Terminology for Exoskeletons and Exosuits
• Effective Date: 01-Oct-2019
• Refers: ASTM F3323-19 - Standard Terminology for Exoskeletons and Exosuits
• Effective Date: 01-Apr-2019
• Refers: ASTM F3323-18 - Standard Terminology for Exoskeletons and Exosuits
• Effective Date: 01-Sep-2018

Overview

ASTM F3576-22 establishes a standardized practice for recording the configuration of exoskeletons during testing. This international standard, developed by ASTM Committee F48 on Exoskeletons and Exosuits, provides a consistent method for documenting both hardware and software control parameters of exoskeleton systems. By ensuring thorough and systematic capture of exoskeleton configuration details, this practice supports safety, reliability, and reproducibility in performance assessments and research settings. Proper use of this standard enables more meaningful comparison of test results and facilitates test replication across various exoskeleton models and operating environments.

Key Topics

• Exoskeleton Configuration Recording
  Outlines a uniform approach to documenting exoskeleton settings, including essential hardware and software parameters.
• Hardware and Software Parameters
  Requires capture of detailed information such as make and model, part and serial numbers, revision/version history, weight, size, age, power sources, control mechanisms, and all relevant sensor and actuator settings.
• Configuration Contextualization
  Emphasizes the importance of associating test results with the specific configuration used, including changes during the test and any equipment added for measurement or monitoring.
• Comparability and Repeatability
  Facilitates side-by-side comparison of test circumstances across different exoskeletons or test runs, supporting consistent and repeatable outcomes.
• Limitations
  Recognizes that not all exoskeletons have the same features or adjustable parameters, highlighting the necessity of clear reporting and the documentation of unknowns when applicable.

Applications

The ASTM F3576-22 standard is valuable for anyone involved in exoskeleton research, development, validation, or performance benchmarking. Its key applications include:

• Safety Assessment
  Allows for contextual interpretation of safety and performance results by tying outcomes to documented configurations.
• Regulatory Testing and Certification
  Provides the rigor needed for regulatory submissions, certification processes, and compliance documentation.
• Product Development and R&D
  Supports comparison of prototypes, design iterations, and benchmarking of new features or enhancements.
• Clinical and Rehabilitation Evaluations
  Enables replication of clinical studies and rehabilitation trials by recording all configuration parameters, supporting evidence-based practice.
• Industrial and Ergonomic Studies
  Facilitates industrial exoskeleton evaluation by recording settings related to load transmission, power mode, and size adjustments.
• Comparative Research
  Ensures researchers can replicate tests across devices and institutions, promoting standardized evaluation and statistical validity.

To maximize effectiveness, users should ensure all relevant configuration data - including hardware set-up, software/firmware versions, sensor thresholds, actuator settings, added test equipment, and environmental variables - are accurately recorded using this standard. Unknown or manufacturer-specific details should be clearly annotated as such.

Related Standards

• ASTM F3323 - Terminology for Exoskeletons and Exosuits
• ASTM F3613 - Practice for Recording the Exoskeleton Fit to the User
• ASTM F3614 - Practice for Recording the Exoskeleton User Information
• ASTM D5219 - Terminology Relating to Body Dimensions for Apparel Sizing
• ASTM E3003 - Practice for Body Armor Wearer Measurement and Fitting

These related standards further support comprehensive testing and reporting of exoskeletons, covering aspects such as fit, user details, and body measurement definitions.

---

Leveraging ASTM F3576-22 ensures clarity, repeatability, and value in exoskeleton testing by standardizing the documentation of configuration parameters. This promotes enhanced safety, comparability, and efficiency in the development, assessment, and deployment of assistive wearable technologies.

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: F3576 −22
Standard Practice for
Recording the Exoskeleton Test Configuration
This standard is issued under the fixed designation F3576; 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 2. Referenced Documents
2.1 ASTM Standards:
1.1 This practice describes a means to record the exoskel-
F3323 Terminology for Exoskeletons and Exosuits
eton configuration when testing. This practice provides a
F3613 Practice for Recording the Exoskeleton Fit to the
method for recording exoskeleton hardware and software
User
control parameters.
F3614 Practice for Recording the Exoskeleton User Infor-
1.2 This practice: contextualizes the exoskeleton configura-
mation
tionduringatest,includingtheidentificationandadjustmentof
3. Terminology
main configuration parameters and the addition of other
equipment (for example, cameras, markers) used during tests;
3.1 Terms used within this standard refer to Terminology
provides a basis for comparison of the test circumstances
F3323.
across different exoskeletons or tests, or both (for example,
varying power or spring settings, prior exoskeleton use, maxi- 4. Summary of Practice
mum control settings); and allows a test to be recreated.
4.1 This practice describes a method for recording the
exoskeleton configuration when performing tests described in
1.3 The values stated in SI units are to be regarded as the
exoskeleton test methods. Without considering the variability
standard. The values given in parentheses are not precise
of users, exoskeletons have a series of hardware and software
mathematical conversions to imperial units. They are close
parameters that can affect the exoskeleton functionality, for
approximate equivalents for the purpose of specifying exoskel-
example:
eton characteristics while maintaining repeatability and repro-
4.1.1 Differentexoskeletons,designedtohelpusersperform
ducibility of the test method results. These values given in
varying tasks, may perform similarly due to their hardware
parentheses are provided for information only and are not
setups or software capabilities and settings; or
considered standard.
4.1.2 The same exoskeleton models may be expected to
1.4 This standard does not purport to address all of the
perform similarly but instead perform differently due to their
safety concerns, if any, associated with its use. It is the
hardware setup and software settings.
responsibility of the user of this standard to establish appro-
4.2 The main configuration parameters are, for example:
priate safety, health, and environmental practices and deter-
4.2.1 Hardware—Exoskeleton weight, size, age, body part
mine the applicability of regulatory limitations prior to use.
movement/support; and
1.5 This international standard was developed in accor-
4.2.2 Software—Control and monitor software, firmware
dance with internationally recognized principles on standard-
versions, and software settings for maximum accelerations and
ization established in the Decision on Principles for the
velocities, maximum joint angle limits and torques, and sensor
Development of International Standards, Guides and Recom-
thresholds and impacts of reaching thresholds.
mendations issued by the World Trade Organization Technical
4.3 This practice also provides a standard method to report
Barriers to Trade (TBT) Committee.
the exoskeleton configuration of which contextualizes exoskel-
eton test results. For example, the result of a timed test could
This practice is under the jurisdiction of ASTM Committee F48 on Exoskel-
etons and Exosuits and is the direct responsibility of Subcommittee F48.03 on Task For referenced ASTM standards, visit the ASTM website, www.astm.org, or
Performance and Environmental Considerations. contact ASTM Customer Service at [e-mail]. For Annual Book of ASTM
Current edition approved Dec. 1, 2022. Published January 2023. DOI: 10.1520/ Standards volume information, refer to the standard’s Document Summary page on
F3576-22. the ASTM website.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
F3576 − 22
bedependentuponexoskeletonlimitationsonwalkingspeedto shoulder, arm, hand, back, leg, or ankle, or provide any other
0.5 m/s or knee angle rotation limitation from 0° through 120°. user’s body area(s) affected.
As such, comparing two exoskeleton configurations could
6.2.8 Weight—Provide the exoskeleton weight in kilograms,
indicate that to which parameters affect exoskeleton perfor- including all components necessary for a fully functional
mance.
exoskeleton.
6.2.9 Load Transmission to the Ground—Provide whether
4.4 This practice does not consider the user or the exoskel-
or not the load applied to the exoskeleton (for example, the
eton fit to the user information. These are also two important
user’s weight) is transmitted to the ground (that is, yes) or not
exoskeleton safety and performance areas that are discussed in
(that is, no).
Practice F3614 and Practice F3613, respectively.
6.2.10 Type—Provide the exoskeleton powered type as: full
5. Significance and Use
active (that is, not user-powered), full passive (that is, user-
powered), or hybrid (that is, a combination of actively and
5.1 The significance of the information to be recorded in a
passively powered).
test report allows for exoskeleton safety and performance to be
6.2.11 Hybrid Joint Power Method—Provide the exoskel-
contextualized with the exoskeleton configuration. Exoskel-
eton hybrid power method for each component (that is, neck,
eton tests can also be replicated across similar or different
shoulder, arm, hand, back, leg, ankle) as active or passive.
exoskeletons by using this practice to record the exoskeleton
6.2.12 Spring Selection—Provide the spring, spring
test configuration in a standardized way.
cartridge,orotherpeakspringforce(Nm)settingsfortheneck,
5.2 Limitations of the practice are that not all exoskeletons
shoulder, arm, hand, back, leg, ankle, or other exoskeleton
have the same capabilities or configuration parameters. For
components (provide the component).
example, for capabilities, an exoskeleton that moves the legs
with electromyography during rehabilitation may behave dif- 6.3 Size Settings:
ferently in repeated use over time or within different gait
6.3.1 Generic Size—Provide the generic exoskeleton size, if
courses (for example, straight or curved). For configuration, an used by the manufacturer (for example, small, medium, or
exoskeleton that moves the legs with electromyography during
large). In all cases, if known, actual sizes and settings should
rehabilitation may have varying signal gain/amplification set- alsobeprovided(forexample,shoulder-to-elbowlengthequals
tings.
XX cm, etc.).
6.3.2 Right/Left Side—Provide the exoskeleton’s size set-
6. Exoskeleton Information
tingsbylistingorbycopy/pastingintothespacesprovided(see
6.1 Exoskeleton Photos—Provide photographs, videos of
Fig. 1 for examples).
motion, or computer aided drawings, or combinations thereof,
6.4 Control and Power:
of the exoskeleton front, sides, and back and any other
6.4.1 Control Method—Provide the exoskeleton control
distinguishing features.
method for each component (that is, neck, shoulder, arm, hand,
6.2 Main Exoskeleton Hardware Parameters:
back, leg, ankle) or other exoskeleton components (provide the
6.2.1 Make and Model—Provide the manufacturer and
component) as active (that is, exoskeleton-powered) or passive
model of the exoskeleton, and mark any and all user’s body
(that is, user-powered).
areas that are intended to be affected by the exoskeleton,
6.4.2 Range of Motion Limit Method—Provide if the range
including: neck, shoulder, arm, hand, back, leg, ankle, or any
of motion is limited by hardware or software.
other user’s body area.
6.4.3 Range of Motion—Provide the exoskeleton range of
6.2.2 Part Number(s)—Providethepartnumbersforeachof
motion for each component: neck, shoulder, arm, hand, back,
the components, including: neck, shoulder, arm, hand, back,
leg, ankle, or other exoskeleton components (provide the
leg, ankle, or other user’s body areas.
component).
6.2.3 Serial Number(s)—Provide the serial numbers for
6.4.4 Power Source—Provide the exoskeleton power
each of the components, including: neck, shoulder, arm, hand,
method as onboard battery or tethered.
back, leg, ankle, or other user’s body areas.
6.4.5 Battery Percentage (start/end)—Provide the exoskel-
6.2.4 Hardware Revision/Version—Provide any revision or
eton battery percentage at the start and end of the test.
version numbers for each of the components, including: neck,
6.4.6 Percentage of Power Settings—Provide the exoskel-
shoulder, arm, hand, back, leg, ankle, or other user’s body
eton power settings for each component: neck, shoulder, arm,
areas.
hand, back, leg, ankle, or other exoskeleton components
6.2.5 Age (Years, Months, Runtime)—Provide the age of the
(provide the component).
exoskeleton in years, months, and the amount of runt
...