Significance and Use
5.1 Exoskeletons may be used in several domains, including for example, industrial, military, first-response, medical, and recreational, to provide potential benefits in supporting user capability, as well as the potential to prevent injury. Exoskeletons may be required to traverse objects, such as stairs and ramps, in unstructured, complex environments.
5.2 All course configurations and recommended apparatus should be in compliance with the following safety standards: Americans with Disabilities Act (ADA), Architectural Graphic Standards (2), International Building Code, and Occupational Safety and Health Administration (OSHA) Regulations. However, not all stairs, ramps, and cross-slopes will meet these criteria as they arise from unstructured natural elevation changes (for example, hills, mountains), or are in buildings that do not meet current standards. If the operational environment of interest requires usage in these environments, care must be taken to ensure test safety. For all artifacts selected, dimensions should be documented, as noted on the test report (see Section 12). Tables provided in 5.2.1 – 5.2.3 are summarized from the ADA and OSHA references showing maximum and minimum values.
5.2.1 A summary of standard stair measurements is provided in Table 1.
5.2.2 A summary of standard ramp measurements is provided in Table 2.
5.2.3 A summary of standard cross-slope measurement is provided in Table 3.
5.3 The apparatus is recommended to be modular such that they can be arranged into different course configurations to facilitate exoskeleton assessment in multiple scenarios based on test requestor and user requirements. The standard course configurations include four configurations (see Section 6) designed for a range of needs, including traversing common situations and density of transitions.
Scope
1.1 When an exoskeleton operator moves within their environment, they will encounter transitions (for example, level ground to ramps or stairs). These environments and transitions will naturally require different biomechanical patterns (1).2 As such, it is important to evaluate an exoskeleton’s ability to perform transitions during human-exoskeleton operation.
1.2 This practice provides tools for assessing an exoskeleton’s ability to transition between objects or structures in the environment. Apparatus and desired performance criteria are identified to support transition assessment and direct and perceived measures of performance are provided.
1.3 Purpose:
1.3.1 This practice provides a set of instructions for the evaluation of an exoskeleton’s (see Terminology F3323) ability to transition (see definitions in Section 3) between representative apparatus in the environment.
1.3.2 This practice can be used independently or can be applied for use with test methods (for example, gait transitioning to ramps). A test report is therefore included and provides an independent evaluation of transition.
1.3.3 This practice contributes to the evaluation of exoskeletons within the domains of industry, military, medical, emergency response, and recreation. Exoskeletons possess a certain set of allowable user movements that may vary by task and goals. Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to transition as intended by the user or test requestor while using an exoskeleton is essential for exoskeleton deployment in a use-case relevant environment.
1.3.4 This practice provides four suggested course configurations that recreate transition scenarios based on anticipated environments, apparatus, and applicable transitions. This practice includes metrics and build criteria for these courses. Alternate course configurations may be selected and should be documented following the guidelines provided.
1.4 Exoskeletons should be able to smoothly transition between different apparatus without undesired or detrimental reactions. Intended exoskeleton purpose by the manufacturer will determine the relevant apparatus configurations and test methods to be used.
1.5 Performing Location—This practice should be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.
1.6 Units—The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard.
1.7 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.
1.8 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.
