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. Crawling is a component of many tasks that someone would do while using an exoskeleton whether to assist the person crawling or to support the task in which the worker also needs to crawl, or both. For example, an exoskeleton may be used to help workers perform mold or asbestos abatement during reconstruction, handle airport baggage, or install ducting in a crawl space. Exoskeletons may instead, for example, be worn by soldiers required to crawl, although the exoskeleton is not intended to improve crawling. Fig. 3 shows examples of spaces and activities where exoskeleton users may crawl. As crawling may be required in these and other similar spaces and tasks, 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, terrains, and activities, and thus provide sufficiently high levels of confidence to determine the applicability of the exoskeleton to a given task.

(c) Military, (d) crawl spaces, and (e) pipes.

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 deployment decisions is essential for exoskeleton purchasers and users.

5.3 The standard test setup and apparatus (see Section 6) is specified to be easily fabricated to facilitate self-evaluation and replication of crawling tests by exoskeleton designers, developers, manufacturers, and users. 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.

5.4 Although the test method was developed for the sectors listed in 5.1, 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 incorporate various crawling techniques which can be included, as appropriate, in quantitative evaluations of exoskeleton (see Terminology F3323) safety or performance, or both.

1.1.2 Exoskeletons possess a certain set of allowable exoskeleton user movement capabilities, including user-motion adaptability, to suit operations in market sectors such as: industrial/occupational, military, response, medical, or recreational. Environments in these typical sectors often pose constraints on exoskeleton user movement to varying degrees. Being able to crawl, as intended by the user or test requestor, while using an exoskeleton can be essential for using exoskeletons in a variety of tasks (for example, installing flooring, low-profile soldier movement, pipe installation in crawl spaces). This test method specifies test setup, procedure, and recording to standardize the crawling task for testing exoskeleton user movement.

1.1.3 Exoskeletons need to function as intended by the manufacturer, including for types of tasks and terrain complexities (for example, dirt, metal, masonry, rock, wood). Intended 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 needed to evaluate whether or not exoskeletons meet their intended functionality.

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 listed in 1.1.2 (and possibly other applications). The F48.03 test suite consists of a set of test methods for evaluating exoskeleton capability requirements. This crawling test method is a part of the test suite. The apparatuses associated with the test methods challenge specific exoskeleton capabilities in repeatable ways to facilitate comparison of different exoskeleton models or to facilitate application of exoskeleton capabilities to intended tasks.

1.1.5 The test methods quantify elemental exoskeleton use capabilities necessary for sector applications listed in 1.1.2 and perhaps others. Test requestors of this standard may use either the entire suite or a subset based on their particular requirements. Test requestors are also allowed to weight 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 specific 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 even 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 crawling use and the test requestor intends to use the exoskeleton to perform a crawling test (for example, for research, development of crawling-capable use by a manufacturer, crawling 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 at a site that represents the place where the exoskeleton will be used.

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.