ASTM F3581-22

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.
Designation: F3581 − 22
Standard Test Method for
Exoskeleton Use: Hurdles
This standard is issued under the fixed designation F3581; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope 1.1.5 The test methods quantify elemental exoskeleton use
capabilities necessary for sector applications listed in 1.1.2 and
1.1 Purpose:
perhapsothers.Assuch,usersofthisstandardshoulduseeither
1.1.1 The purpose of this test method, as a part of a suite of
the entire suite or a subset based on their particular require-
exoskeleton use test methods, is to quantitatively evaluate an
ments. Users are also allowed to weight particular test methods
exoskeleton’s (see Terminology F3323) safety (see 1.4)or
or particular metrics within a test method differently based on
performance, or both, for traversing hurdles.
their specific requirements. The testing results should collec-
1.1.2 Exoskeletons possess a certain set of allowable exo-
tivelyrepresentanexoskeleton’soverallsafetyorperformance,
skeleton user movement capabilities, including user-motion
orboth,asrequiredforthetask.Theseperformancedatacanbe
adaptability, to suit operations such as: industrial/occupational,
used: to guide procurement specifications, for acceptance
military, response, medical, or recreational. Environments in
testing, and for training to use exoskeletons intended for
these typical sectors often pose constraints to exoskeleton user
specified applications.
movement to various degrees. Being able to traverse hurdles,
as intended by the user or test requestor, while using an
NOTE 1—Additional test methods within the suite are anticipated to be
exoskeleton is essential for exoskeleton deployment for a
developed to address additional exoskeleton capability requirements,
varietyoftasks(forexample,traversinglogs,objects).Thistest including newly identified requirements and even for new application
domains.
method specifies test setup, procedure, and recording to stan-
dardize this hurdles task for testing exoskeleton user move-
1.2 Exoskeleton—The exoskeleton shall be used as intended
ment.
by the manufacturer to perform the test described in this test
1.1.3 Exoskeletons need to function as intended, regardless
method. If the exoskeleton is not designed for hurdles-use and
of types of tasks and terrain complexities (for example, carpet,
the test requestor intends to use the exoskeleton to perform a
metal, masonry, rock, wood). Required movement capabilities
hurdles test (for example, for research, development of
may include, for example: walking, running, crawling,
hurdles-capable use by a manufacturer, hurdles training as in
climbing, traversing gaps, hurdles, stairs, slopes, various types
medical rehabilitation applications), appropriate manufacturer
of floor surfaces or terrains, or confined spaces, or any
approvals should be sought prior to performing the test
combination thereof. Standard test methods are required to
method.
evaluate whether or not exoskeletons meet these requirements.
1.3 Performing Location—This test method shall be per-
1.1.4 ASTM Subcommittee F48.03 develops and maintains
formedinatestinglaboratoryorinthefieldwherethespecified
internationalstandardsfortaskperformanceandenvironmental
apparatus and environmental conditions are implemented.
considerations that include but are not limited to, standards for
safety, quality, and efficiency. This subcommittee aims to
1.4 Units—The values stated in SI units are to be regarded
develop standards for any exoskeleton application as exempli-
as the standard.The values given in parentheses are not precise
fied as in 1.1.2. The F48.03 test suite consists of a set of test
mathematical conversions to inch-pound units. They are close
methods for evaluating exoskeleton capability requirements.
approximate equivalents for the purpose of specifying material
This hurdles test method is a part of the test suite. The setup,
dimensions or quantities that are readily available to avoid
procedure, and apparatuses associated with the test methods
excessive fabrication costs of test apparatuses while maintain-
challenge specific exoskeleton capabilities in repeatable ways
ing repeatability and reproducibility of the test method results.
to facilitate comparison of different exoskeleton models or
These values given in parentheses are provided for information
exoskeleton capabilities to tasks.
only and are not considered standard.
1.5 This standard does not purport to address all of the
This test method is under the jurisdiction of ASTM Committee F48 on
safety concerns, if any, associated with its use. It is the
Exoskeletons and Exosuits and is the direct responsibility of Subcommittee F48.03
responsibility of the user of this standard to establish appro-
on Task Performance and Environmental Considerations.
priate safety, health, and environmental practices and deter-
Current edition approved Nov. 15, 2022. Published January 2023. DOI: 10.1520/
F3581-22. mine the applicability of regulatory limitations prior to use.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
F3581 − 22
1.6 This international standard was developed in accor- traverseoneormorehurdlesthathaveachangeinheightabove
dance with internationally recognized principles on standard- ground height. See Fig. 1 for an illustration. Further, the test
ization established in the Decision on Principles for the requestor can specify the statistical reliability and confidence
Development of International Standards, Guides and Recom- levels of such a capability and, thus, dictate the number of
mendations issued by the World Trade Organization Technical successful task performance repetitions that are required.
Barriers to Trade (TBT) Committee.
4.2 The test includes two variations of hurdles: (1) barrier
hurdle and (2) platform hurdle, briefly described as:
2. Referenced Documents
4.2.1 Barrier Hurdle—Ashort, relatively thin wall of which
2.1 ASTM Standards:
the user steps over.
F3323 Terminology for Exoskeletons and Exosuits
4.2.2 Platform Hurdle—Araised level surface on which the
F3427 Practice for Documenting Environmental Conditions
user steps onto or from which the user steps down.
for Utilization with Exoskeleton Test Methods
4.3 The test is described as follows:
F3443 Practice for Load Handling When Using an Exoskel-
4.3.1 This test can be used to assess aerobic function,
eton
endurance, hurdle traversal speed, or balance, or any combi-
F3444/F3444M Practice for Training Exoskeleton Users
nation thereof.
F3474 Practice for Establishing Exoskeleton Functional Er-
4.3.2 The test metrics can include, for example, the follow-
gonomic Parameters and Test Metrics
ing:
F3517 Practice for Movement Tests When Using an Exo-
4.3.2.1 Number of hurdles traversed,
skeleton
4.3.2.2 Height of hurdles traversed,
F3523 Test Method for Exoskeleton Use: Confined Space:
4.3.2.3 Change(s) in user (for example, heart rate, fatigue,
Horizontal Movement
stability, balance, toe drag, stumbles, near falls/falls) by a
F3527 Guide forAssessing Risks Related to Implementation
specified amount,
of Exoskeletons in Task-Specific Environments
4.3.2.4 Upon traversing the hurdle set, the ability to turn
F3528 Test Method for Exoskeleton Use: Gait
around on the floor or hurdle step and traverse the hurdle in the
F3613 Practice for Recording the Exoskeleton Fit to the
opposite direction or to descend the hurdle step.
User
4.4 For all tests, the specified START point to the END
F3614 Practice for Recording the Exoskeleton User Infor-
point, TURN point shall be defined by the test requestor prior
mation
to the test. This test method can be combined with other test
2.2 ISO Standards:
methods, for example, Test Method F3528. The required
ISO 13482 Robots and robotic devices — Safety require-
apparatuses are described in Section 5.
ments for personal care robots
4.5 For any hurdles test, return from the end marker past the
3. Terminology
start marker may commence as part of the test, or the user may
3.1 General terminology for ASTM F48 standards is listed begin each repetition from the start-to-end markers as set by
inTerminology F3323.Terminology specific to this standard is
the test requestor.
shown in this section.
4.6 The hurdles test can include either or both of the barrier
3.2 Definitions of Terms Specific to This Standard:
hurdle or platform hurdle tests as requested by the test
3.2.1 apparatus, n—a structure, object, test component, or requestor.
artifactthereof,foundorplacedinanenvironmentandusedfor
4.7 Barrier Hurdle Test:
a test.
4.7.1 Afull barrier hurdle test is defined as: the user begins
3.2.2 hurdles, n—one or more horizontal barriers or step
by standing behind a start/end location, walks to the hurdle
platforms that a user is to traverse.
apparatus, steps over the hurdle, walks past the end marker or
repeats the task if more barrier hurdles are included, traversing
3.2.3 test suite, n—designed collection of test methods that
successive hurdles, and walks past the end marker.
are used, collectively, to evaluate an exoskeleton’s safety
4.7.2 A phased barrier test can include one or more phases
and/or performance.
of the full barrier test as follows, beginning with the user
4. Summary of Test Method
standing behind a start/end location:
4.7.2.1 Phase 1—The user walks to the barrier hurdle
4.1 The task for this test method, exoskeleton-user travers-
apparatus,
ing hurdles, is defined as the exoskeleton-user performing a
4.7.2.2 Phase 2—The user traverses the hurdle,
hurdles traversal test, including a number of repetitions as set
4.7.2.3 Phase 3—The user walks past the end marker or
by the test requestor. A test includes at least 5 repetitions to
repeats phases 1 and 2 if more barrier hurdles are included,
traversing successive hurdles, and walks past the end marker.
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
4.8 Platform Hurdle Test:
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Standards volume information, refer to the standard’s Document Summary page on
4.9 Afull platform hurdle test is defined as: the user begins
the ASTM website.
by standing behind a start/end location, walks to the hurdle
Available fromAmerican National Standards Institute (ANSI), 25 W. 43rd St.,
4th Floor, New York, NY 10036, http://www.ansi.org. apparatus, steps onto the platform hurdle, steps across the
F3581 − 22
FIG. 1 Example Hurdles:
(a) Athletic Hurdle; (b) Log in the Forest; (c) High Step Over Hurdles used in an Obstacle Course; (d) Obstacle in a Path during a Reha-
bilitation Test; (e) Rubble Pile Obstacles to Climb/step Over by Response Workers; and (f) a Box Left in a Walkway
platform or turns around on the platform 180°, steps down 4.9.1.4 Phase 4—The user steps down from the platform
from the platform onto the floor, and repeats the task if more hurdle,
platform hurdles are included, traversing successive hurdles
4.9.1.5 Phase 5—The user walks past the start/end marker
past the start or end marker.
or repeats phases 1 through 4 if more platform hurdles are
4.9.1 Aphased platform test can include one or more phases
included, traversing successive hurdles, and walks past the
of the full platform test as follows, beginning with the user
start/end marker.
standing behind a start/end location:
4.10 The test requestor shall provide to the test administra-
4.9.1.1 Phase 1—The user walks to the platform hurdle
tor prior to the test, whether a full test or phased test will be
apparatus,
considered the ‘hurdles test’and, if a phased test is requested,
4.9.1.2 Phase 2—The user steps onto the platform hurdle,
the phase numbers of the barrier or platform, or both, phases to
4.9.1.3 Phase 3—The user performs either Phase 3a or
be tested.
Phase 3b:
(1) Phase 3a—The user steps across the platform to the 4.11 The exoskeleton’s capability is defined as the exoskel-
opposite side. eton’s ability to complete the hurdles test, where the user is
(2) Phase 3b—The user rotates 180°. capable of performing the task at the associated effective speed
F3581 − 22
and stability. Further, the test requestor can specify the statis- be used to help rehabilitate a patient who suffered a traumatic
tical reliability and confidence levels of such a capability and injury. And in manufacturing, warehousing, and other
thus, dictate the number of successful task performance rep- occupations, and other similar environments, workers in exo-
etitions that are required. In such a case, the average effective skeletons may traverse hurdles (for example, obstacles) in the
speed shall be used, instead, as the exoskeleton-user’s capabil- walkways while carrying or not carrying loads, indoors or
ity. In either case, the resulting effective speed is specified as outdoors, as part of their daily activities. The testing results of
the exoskeleton-user’s sustained speed. exoskeletons shall describe, in a statistically significant way,
how reliably the exoskeleton is able to support tasks within the
4.12 The user is allowed to practice before the test. She/he
specified types of environments, confinements, and terrains,
isalsoallowedtoabstainfromthetestbeforeitisstarted.Once
and thus provide sufficiently high levels of confidence to
the test begins, there shall be no verbal communication
determine the applicability of the exoskeleton.
between the user and the administrator regarding the perfor-
mance of a test repetition, other than instructions on when to
5.3 This test method addresses exoskeleton safety and
start and notifications of faults, and any safety-related condi-
performance requirements expressed by manufacturing, emer-
tions. The user shall have the full responsibility to determine
gency responders, military, or other organizations requesting
whether and when they are uncomfortable with completing the
this test. The safety and performance data captured within this
test, and notify the test supervisor accordingly. However, it is
test method are indicative of the test exoskeleton’s and the
the administrator’s authority to judge the completeness of the
exoskeleton user’s capabilities. Having available direct infor-
repetition. Additionally, while it is the user’s responsibility to
mationfromtestedexoskeleton(s)withassociatedperformance
alert the test supervisor of a safety issue they experience, the
data to guide procurement and deployment decisions is essen-
test supervisor should also alert the user to pause/stop the test
tial to exoskeleton purchasers and users.
if there are observable safety concerns (for example, too many
5.4 The testing results of the candidate exoskeleton(s) shall
falls, equipment malfunction, heart rate exceeds recommended
describe, in a statistically significant way, how reliably the
heart rate for user’s age (1)).
exoskeletonuserisabletonegotiatehurdles.Thetestapparatus
NOTE 2—Practice using the test apparatus could help establish the
described in Section 6 is intended to be a single or set of
applicability of the exoskeleton for the given test method. It allows the
hurdles where repeatable results between exoskeletons, users,
operator to gain familiarity with the apparatus and environmental condi-
and organizations are comparable. The standard test setup and
tions. It also helps the test administrator to establish the initial apparatus
apparatus can also be used to support training and establish
setting for the test when applicable.
proficiency of exoskeleton users, as well as provide manufac-
4.13 The test requestor has the authority to select the
turers with information about the usefulness of their exoskel-
height(s) of the hurdles for the specified hurdle apparatus. The
eton(s) for tasks.
test requestor also has the authority to select test methods that
constitute the test event, to select one or more test site(s) at
5.5 Although the test method was developed for the sectors
which the test methods are implemented, to determine the listed in 5.2, it may be applicable to other operational domains.
correspondingstatisticalreliabilityandconfidencelevelsofthe
results for each of the test methods, and to establish the
6. Test Course and Apparatus
participation rules including the testing schedules and the test
6.1 The actual performance space where the exoskeleton is
environmental conditions. As such, variations to this test
to be used or apparatus of which will be used, or both, as
method are also described in this standard, including:
exemplified in Fig. 1 and Fig. 2, may be used for this test. In
4.13.1 Traversing hurdles while carrying a load(s); and
the event that the actual performance space or apparatus, or
4.13.2 Environmental conditions including, for example,
both, is not available or the test is to be exactly replicated by
ground surfaces that are hard or soft, dry or wet; temperatures
others, or both, test setup and standard hurdles test apparatus’
and humidity levels that are normal or extreme; precipitation
are also described in this section.
that is no, low, or high.
6.2 Optional Equipment:
5. Significance and Use
6.2.1 Safety equipment, for example: belay; gait belt; per-
sonalprotectiveequipment,suchas:kneepads,helmet,gloves;
5.1 Hurdle designs can vary greatly in, for example: hurdle
geometry, surface coatings, and coverings for a variety of user health monitoring equipment, such as: pulse oximeter,
oxygen source, Borg Breathlessness Scale,
industries. Fig. 1 shows examples of various hurdles.
sphygmomanometer, inertial measurement units, joint angle
5.2 Exoskeletons are being used in the industrial/
and speed measurement equipment; and other safety
occupational, military, response, medical, and recreational
equipment, such as: telephone, automated electronic defibril-
sectors to enhance safety and effectiveness of the user to
lator that can be at the ready as needed.
perform tasks. Hurdles are used in many tasks performed and
6.2.2 User measurement devices, for example: walkway or
mayinclude,forexample,upper,lower,orfullbodymovement
force plates for traversing hurdles analysis; step or railing, or
inordertocompletethetask.Forexample,anexoskeletonmay
both, force/contact measurement/detection devices, user track-
ing system; heart rate, pulse, oxygen monitors.
6.2.3 Loads, for example: tools, crates, bags (refer to
The boldface numbers in parentheses refer to a list of references at the end of
this standard. Practice F3443).
F3581 − 22
FIG. 2 Barrier Hurdles Test Apparatus:
(a) Straight Barriers, (b) Angled, Aligned-left, (c) Angled, Aligned-right Barriers, and (d) Angled, Alternating Barriers
6.3 The test course shall include START markings near the 6.8.1 A standard hurdles test apparatus is suggested for use
hurdle apparatus. to provide maximum repeatability in test result comparison
between testing organizations, users, or exoskeletons, or any
6.4 For a Phased Barrier Test, the following additional
combination thereof. The standard hurdles test apparatus’ are
parameters shall be set prior to the test:
shown in Fig. 2 and Fig. 3 and are designed based on readily
6.4.1 Phase 2—If no Phase 1, the location where the user
accessible materials. The apparatus dimensions are detailed in
begins the test to traverse a hurdle(s),
Appendix X2.
6.4.2 Phase 3—The location of end marker or the location
6.8.2 A standard hurdles test apparatus is to be constructed
where the user turns around 180°, or both,
from nominal 2 by materials made from SPF (spruce, pine, fir)
6.5 For a Phased Platform Test, the following additional
wood, oriented strand board (OSB) standard, appropriately
parameters shall be set prior to the test:
sized fasteners, and can be weighted down using weights or
6.5.1 Phase 2—If no Phase 1, the location where the user
fixtured to the floor or ground surface, to minimize apparatus
begins the test to traverse a hurdle(s),
movement.
6.5.2 Phase 3b—The location, if needed, where the user
6.8.3 The barrier hurdle apparatus may be constructed as
turns around 180°,
barriers aligned perpendicular to the user traversal path as in
6.5.3 Phase 5—The location of the end marker which may
Fig. 2a or angled to the user traversal path as in Fig. 2bor Fig.
be the same as the start marker.
2c, or combinations thereof. If angled, the barrier shall be 45°
6.6 Turn-around space for the user to reverse direction shall
to the user traversal path. The barrier shall be stackable 2 by
be provided according to the apparatus being used. A starting
materials allowing 3.8 cm (1.5 in.) height variations.
and ending line, which marks the START and END of the test
6.8.4 The platform hurdle apparatus shall be constructed as
repetition,shouldbemarkedonthefloorusingbrightlycolored
in Fig. 3. The platform heights shall be stackable and made
tape.
from nominal 2 by material (that is, 2 by 4 or 4 by 4 SPF)
6.7 Required Apparatus: framing with 1.9 cm ( ⁄4 in.) OSB decking on top totaling
approximately 10 cm (4 ⁄4 in.) height variations.
6.7.1 1 m or greater, straight unimpeded path to the hurdle
apparatus,
6.8.5 Standard railings may be added to the apparatus as
6.7.2 Hurdle Apparatus—oneormorebarrierorplatform,or needed.
both, hurdles,
6.9 Alternative Hurdles Apparatus:
6.7.3 Timer (for example, stopwatch), with at least 0.1 s
6.9.1 Any alternative apparatus design, such as for in-
calibrated time resolution,
creased platform loading, increased or decreased sizing, alter-
NOTE 3—Other time-synchronized tools are: clock synchronized to
native materials (for example, other woods, metals,
WWVB radio or computer-based timing synchronized to network time
composites, and combinations thereof), shall be engineered as
protocol.
needed to safely and effectively support the required test.
6.7.4 Repetition counter,
6.9.2 Smaller turn-around space, including smaller platform
6.7.5 Tape or similar marking (preferably bright colored),
hurdles, located at the start/end location, is a potential chal-
and
lenge to exoskeletons. Smaller turn-around space(s) shall be
6.7.6 Test report (see Section 10).
engineered as needed to safely and effectively support the
6.8 Standard Hurdles Test Apparatus: required test. If smaller turn-around space is provided in actual
F3581 − 22
FIG. 3 Platform Hurdles Test Apparatus Isometric and Top Views showing (a) Two and (b) Three Platforms
apparatus settings (that is, not designed and constructed), 7. Hazards
appropriatesafetyprecautionsandtestsafetyshallbeused.See
7.1 Hazards for hurdles tests when using exoskeletons can
also Test Method F3523.
be as follows: slips, trips, falls, fatigue, and collisions depen-
6.9.3 Larger hurdle widths may be required, as with larger
dent upon the user and exoskeleton, the test environment (for
exoskeletons or medical hurdle traverse applications, where
example, lighting, moisture), and the apparatus (for example,
additional equipment or a test technician, safety operator, etc.,
high hurdles). Emergency egress from the area and apparatus
or combinations thereof, may traverse with or beside the
should also be considered. Safety equipment should be con-
exoskeleton user.As such, the actual in situ hurdle apparatus to
sideredtobeusedduringthetest(forexample,belay,gaitbelt).
be used shall accommodate space to allow an exoskeleton user
Refer to (1-3) in order to characterize biomechanical stressors.
andtheadditionalequipmentortesttechnician,orboth,aswell
Note that although these references address typical risks and
as any associated safety, measurement, etc. equipment to
mitigation procedures, they may not address safety issues for
perform the test without hindrance due to space limitations. If
an exoskeleton user.
a larger hurdle width apparatus is to be designed, constructed,
7.2 Safety standards providing risks and mitigation proce-
and used, the apparatus shall be engineered as needed to safely
dures for hazards when using an exoskeleton are developed or
and effectively support the required test.
being developed, including:
6.9.4 A single or multiple (as shown in Fig. 2 and Fig. 3)
7.2.1 ISO 13482; and
hurdlesmaybeusedforthetestapparatus.Ifadditionalhurdles
7.2.2 Guide F3527.
are designed, constructed, and used, the apparatus shall be
engineered as needed to safely and effectively support the
8. Calibration and Standardization
required test. For example, the hurdles spacing between one
another.
8.1 The exoskeleton configuration as tested shall be de-
6.10 The test course layout for a full test is shown in Fig. 4 scribed in detail on the test form, including all subsystems and
and, for consistency throughout this test method, illustrates the components and their respective features and functionalities,
use of the standard test apparatus. If a phased test is requested, including version or iteration details as applicable. The con-
see also 6.4 through 6.9 for additional phased test information. figuration shall be subjected to all the test suites, as defined in
F3581 − 22
or occurrences, such as: stu
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