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 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 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 avoid obstacles while walking. The test apparatus described in 6.7 is intended to be a single obstacle layout where repeatable results between exoskeletons, users, and organizations are comparable. 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 usefulness of their exoskeleton(s) for tasks. For guidance on exoskeleton training, see Practice F3444/F3444M.

5.5 Although the test method was developed for the sectors listed in 5.2, it may be applicable to other operational domains.

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 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.

1.1.6 The 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.

Note 1: Additional test methods within the suite are anticipated to be developed to address additional exoskeleton capability requirements, including newly identified requirements and for new application domains.

1.2 Exoskeleton—The exoskeleton shall be used as intended by the manufacturer to perform the test described in this test method. If the exoskeleton is not designed for obstacle avoidance while walking and the test requestor intends to use the exoskeleton to perform an obstacle avoidance test (for example, for research, development of obstacle avoidance-capable use by a manufacturer, training as in military applications), appropriate manufacturer approvals should be sought prior to performing the test method.

1.3 Performing Location—This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.

1.4 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.

1.5 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.