ASTM F 3584 : 2022

1.1.1The 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.

1.1.2Exoskeletons 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.

1.1.3Environments 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.

1.1.4Exoskeletons 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.

1.1.5ASTM 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 obstacle avoidance 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 capabilities to tasks.

1.1.6The test methods quantify elemental exoskeleton use capabilities necessary for sector applications listed in 1.1.2 and perhaps other applications. As such, users of this standard should use either the entire suite or a subset based on their particular requirements. Users are also allowed to weigh particular test methods or particular metrics within a test method differently, based on their specific requirements. The testing results should collectively represent an exoskeleton’s overall safety or performance, or both, as required for the task. These performance data can be used: to guide procurement specifications, for acceptance testing, and for training to use exoskeletons intended for specified applications.