F48 - Exoskeletons and Exosuits

SIGNIFICANCE AND USE
4.1 The current state of research provides limited evidence to directly support the use of exoskeletons by injured workers for Return to Work (RTW). However, there is research to support using certain exoskeletons to reduce strain and fatigue, as well as improve productivity and work quality. Reductions in strain and fatigue can reduce the risk for injury. To date, the best conclusion is that there is a potential opportunity for exoskeletons to help injured workers RTW, but precise outcomes may be unpredictable at this time. Professional management by a multidisciplinary team (see 5.8) of the following process is recommended. This practice is intended to serve as an example of a potential process that can be used when an exoskeleton is indicated for appropriate workers seeking to RTW. The first step is to consider the criteria in Section 5. If the criteria are met, use the procedure in Section 6 for managing the use of exoskeletons by injured workers for RTW.
SCOPE
1.1 The purpose of this practice is to discuss the potential benefits and risks of exoskeletons when used by workers during the Return to Work (RTW) process following an injury or illness, and to provide guidance to anyone considering their use during the modified/transitional duty period. The primary objectives of any exoskeleton used in a RTW capacity are to facilitate the natural healing process, prevent an exacerbation of an existing injury or illness, prevent further injuries or illnesses from developing, reduce the number of modified/transitional duty days, reduce the number of visits to healthcare providers for medical treatments, and assist the worker with return to full duty without restrictions. The exoskeleton must not aggravate the original injury or illness, nor cause a secondary injury or illness. Successful RTW constitutes an injured worker’s ability to tolerate all of the demands of his/her job without reinjury, perform essential job functions, or return to work as per the decisions and directions of the worker’s physician and employer. In some cases, workers may continue to use the exoskeletons after full duty RTW for risk reduction, injury prevention, or to continue to perform essential job functions. Exoskeleton usage that continues beyond full duty RTW for these purposes is beyond the scope of this particular standard practice.  
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.

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.

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.  
5.2 Limitations of the practice are that not all exoskeletons can or have the same fit to all users and therefore may change the exoskeleton capabilities. For example, as users vary in size, shape, gender, etc., an exoskeleton that fits one user may allow an increase or decrease in torque applied to the arms, legs, etc. as compared to another user, especially users at the upper and lower limits of manufacturer-suggested exoskeleton sizing. Another example is that prior surgeries or pain may affect measured exoskeleton performance as the user may, for example, favor use of one limb to another or may move different when tested with the exoskeleton versus without the exoskeleton.  
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.
SCOPE
1.1 This practice describes a means to record the exoskeleton user information when testing. The practice provides a method for recording exoskeleton user: general information, measurements, activity level, experience with exoskeletons, prior injuries, and other pertinent information that may impact exoskeleton testing.  
1.2 This practice is intended to be used with other exoskeleton test methods and practices to provide a clear representation of the exoskeleton user being tested; provides a basis for comparison of the test circumstances across different exoskeletons, users, tests, or all three; 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.

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.  
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 and users.  
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...

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.  
5.2 Limitations of the practice are that not all exoskeletons have the same connections to the body and fit to all users, and therefore, fit to the user may change the exoskeleton capabilities. For example, as users vary in size, shape, gender, etc., an exoskeleton that is fit to one user may allow an increase or decrease in torque applied to the arms, legs, etc. as compared to another user, especially users at the upper and lower limits of manufacturer-suggested exoskeleton sizing. Another example is that an exoskeleton that is not fit properly to a user may be uncomfortable, and as a result the user may not perform tasks as long, as fast, as strong/delicately, or many other possible outcomes.  
5.3 It is expected that all exoskeleton tests require the exoskeleton to be fit properly to the user according to manufacturer specifications. However, as testing exoskeletons can vary, so can fit to the user, and variations in fit may also be tested. For example, a test may be performed with the exoskeleton not fit properly to the users’ legs (for example, longer fit on shorter legs) to evaluate performance changes when the task requires the user to stand on their toes. Should exoskeleton tests be performed with the exoskeleton not fit properly to the user, the test requestor should verify with the manufacturer that the exoskeleton will not harm the user as a result of a bad fit, and provide this information to the test administrator to record on the test report.  
5.4 Additional fit and measurement information may be found in Terminology D5219, Practice E3003, and Practice F1731.
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.  
1.2 This practice is intended to be used with other exoskeleton test methods and practices to provide a clear representation of the exoskeleton fit to the user measured along body planes; provides a basis for comparison of the test circumstances across different exoskeletons or tests, or both; 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.

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,...

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 ...

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.  
5.2 This test method addresses exoskeleton safety and performance requirements expressed by manufacturing, medical, 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. The safety and performance data from these tests are essential to guiding the procurement and deployment decisions of exoskeleton purchasers and users.  
5.3 The standard test setup and apparatus (see Section 6) is specified to be easily fabricated. This facilitates evaluation and replication of gap tests by exoskeleton sectors. The standard test setup and apparatus can also be used to support training (see Practice F3444/F3444M) and to establish proficiency of exoskeleton users, as well as provide manufacturers with information about the usefulness of their exoskeleton(s) for tasks.  
5.4 Although the test method was developed for the sectors lis...
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) performance or safety, or both, of usage by the exoskeleton user (see 1.4) for gaps.  
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. Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to step over gaps, as intended by the user or test requestor, while using an exoskeleton is essential for exoskeleton deployment for a variety of tasks. This test method specifies test setup, procedure, and recording to standardize this gaps 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, stairs, 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.  
1.1.4 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 gaps test method is a part of the test suite. The setup, procedure, and apparatuses associated with the test methods challenge speci...

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.

SCOPE
1.1 This terminology covers terms associated with exoskeletons and exosuits. By providing a common and consistent lexicon, the purpose of this terminology is to facilitate communication between individuals who may be involved in the research, design, deployment, and use of exoskeletons and exosuits in applications, including but not limited to industrial, military, emergency response, recreational, and medical areas.  
1.2 For the terminology to be harmonious with the practices in the fields, definitions have been drawn from other standards, the literature, or other public sources when possible. When no definition is available, is similar but requires change for use within standards produced by Committee F48, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. The development of this terminology is taking place in close coordination with corresponding efforts in all Committee F48 subcommittees to ensure comprehensive and consistent coverage.  
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.

SIGNIFICANCE AND USE
5.1 Exoskeletons are being used in the industrial, military, response, medical, and recreational sectors to enhance safety and effectiveness of the user to perform tasks. Confined spaces exist in many of these areas, as shown in Fig. 1, requiring people to fit through small spaces and this is potentially even more difficult while wearing an exoskeleton. For example, in the automobile manufacturing industry, workers wearing exoskeletons are required to fit into a confined automobile door opening while carrying tools to attach components to the car body. In emergency response operations, exoskeletons are used to enhance the safety and effectiveness of emergency responders operating in hazardous and confined space environments for search and rescue of victims. 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.  
5.2 This test method addresses exoskeleton safety and performance requirements expressed by emergency responders, military, manufacturing, 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 (see 9.6.6) capabilities. The safety and performance data from these tests are essential to guiding the procurement and deployment decisions of exoskeleton purchasers and users.  
5.3 A standard artifact is specified to be easily fabricated. This facilitates evaluation by exoskeleton developers, manufacturers, and users, and to provide replication of confined space: horizontal movement tests across the exoskeleton sectors. The artifact can also be used to support training (see Practice F3444/F3444M) and to establish proficiency of exoskeleton users, as well as provide manufacturers w...
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) performance or safety of usage, or both, by the exoskeleton user (see 1.4) in confined spaces with horizontal user movement.  
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, military, response, medical, or recreational. Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to pass-through or maneuver, or both, effectively in confined spaces is essential for exoskeleton deployment for a variety of tasks. This test method specifies apparatuses to standardize this confined space task for testing exoskeleton user movement along the horizontal axis.  
1.1.3 Exoskeletons shall be able to handle many types of task and terrain complexities. The required movement capabilities include, for example: walking, running, crawling, climbing, traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined spaces. 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 confined space: horizontal movement test method is a part of the test suite. The apparatuses associated with the test methods challenge specific exoskeleton capabilities in repeatable ways to fac...

SIGNIFICANCE AND USE
4.1 Development of exoskeleton technologies requires careful analysis of potential risks that may be associated with their use. Failure to adequately assess risks may give rise to hazardous situations at many instances of exoskeleton use, for example during completion of human trials, during exoskeleton demonstrations in trade shows, as well as during exoskeleton training, wear, operation, transportation, maintenance, and disposal.  
4.2 This guide provides a minimum set of hazards that should be considered by producers when analyzing and mitigating risks related to exoskeletons. This set of hazards should be supplemented with other hazards that may reflect unique safety concerns relevant to the exoskeleton technology and application. The following sources may provide additional insight based on exoskeleton technology and application:  
4.2.1 IEC 60601 series;  
4.2.2 IEC 80601-2-78;  
4.2.3 ISO/DIS 13482;  
4.2.4 Product standards established by military agencies (examples are NATO standards and United States Military Standards).  
4.3 For each listed hazard, one example of harm scenario and examples of possible harm are provided. These examples are used to illustrate potential safety consequences related to such hazards. They do not reflect a comprehensive list of all possible acute or chronic injuries that may result from exoskeleton use. Additionally, although this guide does not address hazards that may result in damage of objects, these should be considered as well during the risk analysis process.  
4.4 This guide does not provide detailed guidance for application of risk management processes to exoskeletons. However, the producer should use a structured approach to identify and monitor hazards, and mitigate related risks throughout the exoskeleton life-cycle. Additional guidance on risk management can be found in the following standards:  
4.4.1 ISO 31000;  
4.4.2 ISO 14971.  
4.5 This guide does not supersede any established laws or regulations ...
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1.1 This guide lists typical hazards that should be considered by exoskeleton producers when analyzing and managing potential risks related to exoskeletons.  
1.2 Where possible, this guide provides references to agency standards, regulations, or guidelines for assessment of risks related to these hazards and for application of risk reduction measures.  
1.3 This guide applies to all exoskeleton types, regardless of the applications of the technology such as consumer, industrial, medical, military, and emergency management services.  
1.4 Units—The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard.  
1.5 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.  
1.6 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.

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. Gait is a component of many tasks that someone would do with an exoskeleton. For example, an exoskeleton may be used to help rehabilitate a patient who suffered a traumatic leg injury. In manufacturing, warehousing, military, and other similar environments, workers and soldiers in exoskeletons walk with and without carrying loads, many times over long distances, indoors or outdoors, as part of their daily activities. Fig. 1 shows examples of exoskeleton users walking, which, depending upon the task, may require people to traverse various ground surfaces while wearing an exoskeleton. 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.
FIG. 1 Examples of Exoskeleton Users Walking in Various Sectors
Note 1: Examples include: (a) medical rehabilitation (courtesy Gogoa), (b) military material handling (courtesy Mawashi), (c) military soldiering (courtesy Mawashi), (d) recreational hiking through snow and (e) walking on pavement as part of daily work duties (courtesy Humotech), and (f) industrial worker standing up from a chair prior to walking (courtesy SuitX).  
5.2 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...
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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 gait.  
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. Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to walk, as intended by the user or test requestor, while using an exoskeleton is essential for exoskeleton deployment for a variety of tasks. This test method specifies test setup, procedure, and recording to standardize this gait task for testing exoskeleton user movement.  
1.1.3 Exoskeletons shall be able to handle many types of task and terrain complexities. The required movement capabilities include, for example: walking, running, crawling, climbing, traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined spaces. 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 gait test method is a part of the test suite. The setup, procedure, and apparatuses associated with the test methods challenge specific exoskeleton capabilities in repeatable ways to facilitate comparison of different exoskeleton models or exoskeleton capa...

SIGNIFICANCE AND USE
4.1 There is evidence to support use of occupational exoskeletons to support work tasks and activities. It is recognized that organizations, job responsibilities, and working contexts vary widely. Additionally, a wide array of exoskeletons are becoming available on the market. Exoskeletons vary in terms of complexity, form and mass, body coverage, and function. Certification programs for occupational exoskeletons are not available at this time. As such, at the present time no mechanisms exist to guarantee that circumstantial risk evaluation was performed on exoskeletons or whether these evaluations reflect the real working context in which exoskeletons will be implemented.  
4.2 This guide provides a minimum baseline for assessing risks that may arise from exoskeleton interaction with existing and task-specific environments. The working document presented in Appendix X1 can be used to support decision making at different stages of exoskeleton implementation, such as:  
4.2.1 Purchase—It can highlight safety concerns that may arise from introduction of a given exoskeleton technology in a specific work context;  
4.2.2 Implementation of Risk Reduction Measures—It can highlight residual risks that require risk reduction measures;  
4.2.3 Detection of Unknowns—It can lead to definition of additional steps that are needed to satisfy risk assessment for potentially hazardous situations;  
4.2.4 Risk Monitoring—It can be used as a “living document” to monitor residual risks throughout the use period of the exoskeleton.  
4.3 Harm scenarios described in this guide primarily reflect situations that may result in acute and observable injury or harm to a person. This guide is not suited for assessment of potential exoskeleton-to-task incompatibilities that may result in chronic, cumulative, or long-term injuries. However, these should be considered as part of any exoskeleton selection and implementation process. Guidelines on evaluation of risk factors that may lead to ...
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1.1 When implementing exoskeletons in real-world work environments, exoskeleton interaction with various components of a given task and its environment can generate a number of risks. This guide provides guidance for conducting contextual risk assessment. A working document is provided in Appendix X1 to allow initiation of the risk assessment process. It can be used to describe tasks, break the tasks down into task elements, anticipate related harm scenarios (a series of typical harm scenarios are provided), assess related risks, and detect scenarios that may require further analysis or implementation of risk reduction measures.  
1.2 This guide applies to exoskeletons administered by employers to paid workers or professionals to support work-related tasks and activities.  
1.3 This guide addresses risks that may result in acute and observable injury and harm. This guide does not address the following topics and concerns related to exoskeleton use:  
1.3.1 Assessment and prevention of risk factors that can lead to chronic, cumulative, or long-term injuries;  
1.3.2 Use of exoskeletons to support rehabilitation and return to work;  
1.3.3 Risks related to storage and use of personal information;  
1.3.4 Risks that may result in damage of objects; and  
1.3.5 Financial risks.  
1.4 Units—The values stated in SI units are to be regarded as the standard. No other units of measurement are included in this standard.  
1.5 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.  
1.6 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International St...

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.
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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 ...

SIGNIFICANCE AND USE
4.1 This guide provides a set of recommended quantitative measures which can be used to assess the task or human readiness, or both, of exoskeletons. All of the quantitative measures are used in ergonomic research to assist in objectively concluding the efficacy of an assessed metric.  
4.2 Not every element of this guide may be applicable to all exoskeleton components or configurations. Nor are all the quantitative measures herein exhaustive. Selection of quantitative measures should be done based on the uncertainties surrounding the end use application of the exoskeleton. It is the manufacturer’s responsibility to determine which portions of this guide, and the corresponding measures, are applicable to their exoskeletons.  
4.3 The ability to reproduce analysis between exoskeleton usage vs. non-exoskeleton usage is critical criteria in using a quantitative measures approach. A control method for reproducibility in a quantitative measures approach is a repeated measures design. A repeated measures design involves multiple measures of the same variable taken on the same end user, either under different conditions or over two or more time periods. The salient aspect of a repeated measures design is using the end user as the control.
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1.1 This guide provides quantitative measures for assessing one or more specific ergonomic parameters with respect to exoskeletons. Furthermore, this guide should be used in conjunction with Practice F3474, Guide F3519, and Standard Guide for The Application of Ergonomics to Prevent Injury During Exoskeleton Use2.  
1.2 This guide provides quantitative measures for the design, use, and construction of exoskeletons within the domains of industry, military, medical, first responders, and recreational.  
1.2.1 Quantitative measures are a type of data that can be put into a numerical value. This type of measure allows statistical analysis to be performed on the data to yield an objective result.  
1.3 Units—The values stated in SI units are to be regarded as the standard. No other units of measurement are included in this 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.

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.
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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.

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...
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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.

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.
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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.

SIGNIFICANCE AND USE
4.1 This practice contains the recommendations for minimal informational requirements for the identification of exoskeletons. It is intended to provide the user with some of the basic information necessary for the selection and use of the exoskeletons.  
4.2 Additional information beyond the content recommended by this practice is permitted to be applied to the label.
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1.1 This practice sets forth labeling and instruction guidelines for manufacturers of exoskeletons.  
1.2 The values stated in SI units are to be regarded as standard. The values given in parentheses are mathematical conversions to inch-pound units that are provided for information only and are not considered standard.  
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.

SIGNIFICANCE AND USE
5.1 This practice guides the user through selection of loads and example load handling tests and procedures for use in evaluating exoskeletons worn by the user. The practice is designed to allow replication of loads and tests. Fig. 1 shows a flow chart for performing load handling test methods. Initially, the load handling 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 2. This practice is shown in box 3 where documentation of the load and test results occurs. Evaluation of results occurs after the test has been completed as in box 4.
FIG. 1 Flow Chart for Performing Load Handling Test Methods
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, load handling activities using exoskeletons that may occur. However, the test method provides examples to be used directly or as guidance for developing additional load artifacts and load handling tests.
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1.1 This practice provides a structure for documenting test methods used to evaluate exoskeleton success criteria during a requested load handling task. The practice does not describe all loads, load types, nor load handling methods. Instead, this practice provides manufacturers and users with example load handling test procedures of common load handling tasks and a method to record load and test parameters so that load handling tasks can be replicated. The practice includes designs for defined artifact loads and the appendix provides design details, to further allow replication of load handling tests and test results, and examples of load handling tests.  
1.2 Evaluation and evaluation method would be included in another standard with inputs (for example, precision, statistical validity, etc.) provided by the test requestor.  
1.3 Output of the evaluation, that is, success criteria, are provided by the requestor.  
1.4 Loads encompass forces applied to physical objects, for example: lifting boxes, pushing a force plate or cart, carrying flexible firehose or luggage.  
1.5 If possible, tests using real or artifact loads should be replicable and performed in environments representative of a real-world load handling implementation.  
1.6 This standard includes only the use of inanimate objects.  
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 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.

SIGNIFICANCE AND USE
4.1 This practice establishes the minimum training criteria for exoskeleton users.  
4.2 This practice does not supersede any established laws or regulations of international, national, federal, state, tribal, local, or regional governments.  
4.3 A commonly used training practice is for a competent, qualified, or certified trainer to provide to the student with written, visual, and verbal training materials that elementally breakdown the intended subject matter into a series of achievable modules. The trainer describes and demonstrates each module, and then interactively has the exoskeleton student user repeat and demonstrate specified knowledge, skills, and abilities to verify and validate the complete transfer of that knowledge, skills, and abilities.  
4.4 This practice by itself is not a training document. It is an outline of the topics required for training or evaluating exoskeleton users for competence, proficiency, certification, or license.  
4.5 The knowledge, skills, and abilities presented in the following sections are not in any particular order and do not represent a training sequence.
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1.1 This practice establishes the minimum training requirements, including general knowledge, skills, and abilities, for personnel who use an exoskeleton as part of their duties.  
1.2 This practice applies only to exoskeletons and exosuits.  
Note 1: For more advanced exoskeletons, those that are powered, or with IT data connections/links for data transfer, or combinations thereof, upload/download requirements, ensure exoskeleton user and system operators training includes addressing all precautions so they can quickly identify and resolve any data transfer problems experienced with a fully operational exoskeleton.  
1.3 It is recognized that organizations and job responsibilities vary widely among military, medical, industrial, and emergency response communities. It is the responsibility of the user of this practice to identify the appropriate subject matter for its program and its specific needs.  
1.4 Users of this practice should consult with the exoskeleton manufacturer to ensure they have the latest and most relevant information on the exoskeleton. In addition, all training should comply with laws and regulations regarding user safety and health as well as the safety of individuals in close proximity to the user.  
1.5 Units—The values stated in either SI units or inch-pound units are to be regarded separately as standard. The values stated in each system may not be exact equivalents; therefore, each system shall be used independently of the other. Combining values from the two systems may result in non-conformance with the standard.  
1.6 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.  
1.7 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.

SIGNIFICANCE AND USE
4.1 This section provides a description of the environmental conditions listed in Section 1 and describes the sub-conditions within each condition. Examples provided for many of the conditions and sub-conditions are provided as guidance only. Each of the conditions described should be evaluated and documented as set forth in Sections 5 – 7.  
4.2 Environment Consistency: Static, Dynamic, Transitional  
4.2.1 Static is when the environment is similar throughout the test apparatus. For example, there are minor fluctuations in temperature throughout the apparatus as shown in Fig. 1 and Fig. 2. Dynamic is when the environment significantly differs within the test apparatus. For example, when the temperature changes between repetitions as shown in Fig. 3. Transitional is when the environment significantly differs in different areas within the test apparatus as shown in Fig. 4. The intent here is to not give specific guidance, but to provide a high-level classification of a particular set of environmental conditions. If environment consistency is dynamic or transitional, or both, a report form (see Section 7) for each unique set of environmental conditions should be completed.
FIG. 1 Example of Static Environment Using Temperature
FIG. 2 Example of Static Environment Using Temperature and Showing a Transition Between Two Static Environments
FIG. 3 Example of Dynamic Environment Using Temperature and Showing that the Environment Changed During the Test
FIG. 4 Example of Transitional Environment Using Temperature Portions of the Environment may Remain Static or may be Dynamic (For example, Cold to Colder)  
4.3 Floor or Ground Surface:  
4.3.1 Exoskeleton mobility is affected by ground surface conditions including: surface texture/roughness, deformability, slope or lack of flatness (that is, undulation). Ground surface conditions can affect the exoskeleton: traction, vibration affecting the electronics integrity, positioning, and stability.  
4.3.2 Type(s):  ...
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1.1 When conducting test methods, it is important to consider the role that the environmental conditions play in measurement of exoskeleton safety and performance. Exoskeletons are designed to be operated both indoors and outdoors under conditions specified by the manufacturer. Likewise, end users of the exoskeletons will be using these exoskeletons in a variety of environmental conditions. When conducting and replicating ASTM Committee F48 test methods by exoskeleton manufacturers and users, it is important to specify and document the environmental conditions under which the exoskeleton is to be tested as there will be variations in system performance caused by the conditions, especially when comparing and replicating sets of test results. It is also important to consider changes in environmental conditions during the course of operations (for example, transitions between conditions). As such, environmental conditions specified in this document are static, dynamic, or transitional, or combinations thereof; with the exoskeleton stationary or in motion. This document provides brief introduction to the following list of environmental conditions that can affect performance of the exoskeleton:  
1.1.1 Floor or ground surface;  
1.1.2 Temperature;  
1.1.3 Humidity;  
1.1.4 Atmospheric pressure;  
1.1.5 Lighting;  
1.1.6 Air flow and quality;  
1.1.7 External sensor emission;  
1.1.8 Electrical interference;  
1.1.9 Boundaries;  
1.1.10 Additional categories, for example underwater, extraterrestrial, may also be added to this standard as the exoskeleton industry applications evolve in these areas.  
1.1.11 This document then breaks down each condition into sub-categories so that the user can document the various aspects associated with the category prior to exoskeleton tests defined in ASTM Committee F48 test methods listed in Section 2. It is recommended that salient environment conditions be documented when conduc...

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1.1 This terminology covers terms associated with exoskeletons and exosuits. By providing a common and consistent lexicon, the purpose of this terminology is to facilitate communication between individuals who may be involved in the research, design, deployment, and use of exoskeletons and exosuits in applications, including but not limited to industrial, military, emergency response, recreational, and medical areas.  
1.2 For the terminology to be harmonious with the practices in the fields, definitions have been drawn from other standards, the literature, or other public sources when possible. When no definition is available, is similar but requires change for use within standards produced by Committee F48, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. The development of this terminology is taking place in close coordination with corresponding efforts in all Committee F48 subcommittees to ensure comprehensive and consistent coverage.  
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.

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 by means of labels (such as labels complying with Practice F3358), pamphlets, or other documents.  
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 is to indicate and describe those portions or requirements that are not applicable.  
4.3 All information related to wearing, decontamination, care, and maintenance are required to 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)) are to be used. Where possible, pictograms and illustrations are required 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 recommended 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.

SCOPE
1.1 This terminology covers terms associated with exoskeletons and exosuits. By providing a common and consistent lexicon, the purpose of this terminology is to facilitate communication between individuals who may be involved in the research, design, deployment, and use of exoskeletons and exosuits in applications, including but not limited to industrial, military, emergency response, recreational, and medical areas.  
1.2 For the terminology to be harmonious with the practices in the fields, definitions have been drawn from other standards, the literature, or other public sources when possible. When no definition is available, is similar but requires change for use within standards produced by Committee F48, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. The development of this terminology is taking place in close coordination with corresponding efforts in all Committee F48 subcommittees to ensure comprehensive and consistent coverage.  
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.

SCOPE
1.1 This terminology covers terms associated with exoskeletons and exosuits. By providing a common and consistent lexicon, the purpose of this terminology is to facilitate communication between individuals who may be involved in the research, design, deployment, and use of exoskeletons and exosuits in applications, including but not limited to industrial, military, emergency response, recreational, and medical areas.  
1.2 For the terminology to be harmonious with the practices in the fields, definitions have been drawn from other standards, the literature, or other public sources when possible. When no definition is available, is similar but requires change for use within standards produced by Committee F48, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. The development of this terminology is taking place in close coordination with corresponding efforts in all Committee F48 subcommittees to ensure comprehensive and consistent coverage.  
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.

SIGNIFICANCE AND USE
4.1 This practice contains the recommendations for minimal informational requirements for the identification of exoskeletons. It is intended to provide the user with some of the basic information necessary for the selection and use of the exoskeletons.  
4.2 Additional information beyond the content recommended by this practice is permitted to be applied to the label.
SCOPE
1.1 This practice sets forth labeling and instruction guidelines for manufacturers of exoskeletons.  
1.2 The values stated in SI units are to be regarded as standard. The values given in parentheses are mathematical conversions to inch-pound units that are provided for information only and are not considered standard.  
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.

SCOPE
1.1 This terminology covers terms associated with exoskeletons and exosuits. By providing a common and consistent lexicon, the purpose of this terminology is to facilitate communication between individuals who may be involved in the research, design, deployment, and use of exoskeletons and exosuits in applications, including but not limited to industrial, military, emergency response, recreational, and medical areas.  
1.2 For the terminology to be harmonious with the practices in the fields, definitions have been drawn from other standards, the literature, or other public sources when possible. When no definition is available, is similar but requires change for use within standards produced by Committee F48, or in dispute, a consensus-based approach will be used to resolve definitions and add them to the lexicon. The development of this terminology is taking place in close coordination with corresponding efforts in all Committee F48 subcommittees to ensure comprehensive and consistent coverage.  
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.