This standard will detail test methods for evaluating mobility of an exoskeleton wearer (i.e., locomotion, traversal) over variable terrains including characteristics of slope (e.g., flat, inline, decline), substrate (e.g., paneling, sand, gravel), elevation (e.g., stairs, raised cobblestones), and movement (e.g., forward walking, sidestepping, agile movement). The test methods are applicable to the evaluation of exoskeletons to determine if they improve and/or interfere with wearer mobility. The various terrains that are specified are characterized in the standard according to the impacts they may have on exoskeleton wearer mobility and movement patterns (e.g., ankle pitch and roll, joint stiffness, center of mass displacement). The test methods include standard apparatus designs that are scalable for user purposes with minimum dimensional requirements to ensure appropriate exoskeleton wearer performance. The apparatuses used are common to other F48.03 standard test methods. Testing conditions include evaluation with and without wearing the exoskeleton and -- if a powered exoskeleton -- wearing the exoskeleton when it is powered and unpowered.
exoskeleton; mobility; locomotion; traversal; terrain; terrains; gait
From the roadmap of standards developed through F48.03 meetings, a test method for mobility over variable terrain has been identified as being needed. Mobility with exoskeletons is one of the most common performance measures evaluated in research and industry, but no defined standards exist.
The title and scope are in draft form and are under development within this