Standard Active Last Updated: Jul 28, 2021 Track Document
ASTM F3517-21

Standard Practice for Movement Tests When Using an Exoskeleton

Standard Practice for Movement Tests When Using an Exoskeleton F3517-21 ASTM|F3517-21|en-US Standard Practice for Movement Tests When Using an Exoskeleton Standard new BOS Vol. 15.13 Committee F48
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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

Flow Chart for Performing Exoskeleton-User Movement Test MethodsFlow 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.


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 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.

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Book of Standards Volume: 15.13
Developed by Subcommittee: F48.03
Pages: 34
DOI: 10.1520/F3517-21
ICS Code: 11.040.60