ASTM F3582-22

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: F3582 − 22
Standard Test Method for
Exoskeleton Use: Gaps
This standard is issued under the fixed designation F3582; 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 This test method tests for generic gaps-traversal exo-
skeleton capability, with straight paths and no test course
1.1 Purpose:
curves, obstacles, or other complexities not described herein
1.1.1 The purpose of this test method, as a part of a suite of
(see 4.6). This test method is considered the basis for exoskel-
exoskeleton use test methods, is to quantitatively evaluate an
eton gaps capability testing.
exoskeleton’s (see Terminology F3323) performance or safety,
1.1.6 The test methods quantify elemental exoskeleton use
or both, of usage by the exoskeleton user (see 1.4) for gaps.
capabilities necessary for sector applications listed in 1.1.2 and
1.1.2 Exoskeletons shall possess a certain set of allowable
perhaps other applications. As such, users of this standard
exoskeleton user movement capabilities, including user-motion
should use either the entire suite or a subset based on their
adaptability, to suit operations such as: industrial/occupational,
particular requirements. Users are also allowed to weight
military, response, medical, or recreational. Environments in
particular test methods or particular metrics within a test
these typical sectors often pose constraints to exoskeleton user
method differently based on their specific requirements. The
movement to various degrees. Being able to step over gaps, as
testing results should collectively represent an exoskeleton’s
intended by the user or test requestor, while using an exoskel-
overall safety or performance, or both, as required for the task.
eton is essential for exoskeleton deployment for a variety of
These performance data can be used: to guide procurement
tasks. This test method specifies test setup, procedure, and
specifications, for acceptance testing, and for training to use
recording to standardize this gaps task for testing exoskeleton
exoskeletons intended for specified applications.
user movement.
1.1.3 Exoskeletons need to function as intended, regardless
NOTE 1—Additional test methods within the suite are anticipated to be
developed to address additional exoskeleton capability requirements,
of types of tasks and terrain complexities (for example, carpet,
including newly identified requirements and even for new application
metal, masonry, rock, wood). Required movement capabilities
domains.
may include, for example: walking, running, crawling, climb-
1.2 Exoskeleton—The exoskeleton shall be used as intended
ing; traversing gaps, stairs, slopes, various types of floor
by the manufacturer to perform the test described in this test
surfaces or terrains, or confined spaces, or combinations
method. If the exoskeleton is not designed for gaps traversing
thereof. Standard test methods are required to evaluate whether
and the test requestor intends to use the exoskeleton to perform
or not exoskeletons meet these requirements.
a gaps test (for example, for research, development of gaps-
1.1.4 ASTM Subcommittee F48.03 develops and maintains
capable use by a manufacturer, gaps training as in military
international standards for task performance and environmental
applications), appropriate manufacturer approvals should be
considerations that include but are not limited to, standards for
sought prior to performing the test method.
safety, quality, and efficiency. This subcommittee aims to
develop standards for any exoskeleton application as exempli-
1.3 Performing Location—This test method shall be per-
fied as in 1.1.2. The F48.03 test suite consists of a set of test
formed in a testing laboratory or at a site that represents the
methods for evaluating exoskeleton capability requirements.
place where the exoskeleton will be used.
This gaps test method is a part of the test suite. The setup,
1.4 Units—The values stated in SI units are to be regarded
procedure, and apparatuses associated with the test methods
as the standard. The values given in parentheses are not precise
challenge specific exoskeleton capabilities in repeatable ways
mathematical conversions to inch-pound units. They are close
to facilitate comparison of different exoskeleton models or
approximate equivalents for the purpose of specifying material
exoskeleton capabilities to tasks. Not all exoskeletons may
dimensions or quantities that are readily available to avoid
have the capabilities needed to use this test method.
excessive fabrication costs of test apparatuses while maintain-
ing repeatability and reproducibility of the test method results.
1 These values given in parentheses are provided for information
This test method is under the jurisdiction of ASTM Committee F48 on
Exoskeletons and Exosuits and is the direct responsibility of Subcommittee F48.03
only and are not considered standard.
on Task Performance and Environmental Considerations.
1.5 This standard does not purport to address all of the
Current edition approved Nov. 15, 2022. Published February 2023. DOI:
10.1520/F3582-22. safety concerns, if any, associated with its use. It is the
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
F3582 − 22
responsibility of the user of this standard to establish appro- gap(s) traversal test including a number of repetitions as set by
priate safety, health, and environmental practices and deter- the test requestor. A test includes at least 5 repetitions to
mine the applicability of regulatory limitations prior to use. traverse one or more gaps that have preset, as per the test
1.6 This international standard was developed in accor- requestor, horizontal breaks or holes in the ground surface. See
dance with internationally recognized principles on standard- Fig. 1 for an illustration. Further, the test requestor can specify
ization established in the Decision on Principles for the the statistical reliability and confidence levels of such a
Development of International Standards, Guides and Recom- capability and, thus, dictate the number of successful task
mendations issued by the World Trade Organization Technical performance repetitions that are required. The tests are de-
Barriers to Trade (TBT) Committee. scribed as follows:
4.1.1 Gaps Platform—A raised, level surface on which the
2. Referenced Documents
user steps across a set gap between gap platforms and onto
another gap platform.
2.1 ASTM Standards:
F3323 Terminology for Exoskeletons and Exosuits
NOTE 2—The gap platform can be, for example, a path where a gap is
F3427 Practice for Documenting Environmental Conditions
within the path.
for Utilization with Exoskeleton Test Methods
4.2 The test is described as follows:
F3443 Practice for Load Handling When Using an Exoskel-
4.2.1 This test can be used to assess aerobic function,
eton
endurance, gap traversal speed, or balance, or combinations
F3444/F3444M Practice for Training Exoskeleton Users
thereof.
F3474 Practice for Establishing Exoskeleton Functional Er-
4.2.2 The test metrics can include, for example, the follow-
gonomic Parameters and Test Metrics
ing:
F3517 Practice for Movement Tests When Using an Exo-
4.2.2.1 Number of gaps traversed;
skeleton
4.2.2.2 Distance (see Fig. 2 for gap axes labeling) of gaps
F3523 Test Method for Exoskeleton Use: Confined Space:
traversed;
Horizontal Movement
4.2.2.3 Change(s) in user (for example, heart rate, fatigue,
F3527 Guide for Assessing Risks Related to Implementation
stability, balance, toe drag, stumbles, near falls/falls) by a
of Exoskeletons in Task-Specific Environments
specified amount; and
F3528 Test Method for Exoskeleton Use: Gait
4.2.2.4 Upon traversing the gap(s), the ability to turn around
F3613 Practice for Recording the Exoskeleton Fit to the
on the floor or gap platform and traverse the gap(s) in the
User
opposite direction.
F3614 Practice for Recording the Exoskeleton User Infor-
mation
4.3 For all tests, the specified START point to the END
2.2 ISO Standards:
point, and TURN point shall be defined by the test requestor
ISO 13482 Robots and robotic devices — Safety require-
prior to the test. This test method can be combined with other
ments for personal care robots
test methods, for example, Test Method F3528. The required
apparatuses are described in Section 6.
3. Terminology
4.4 For any gap test, return from the end marker past the
3.1 General terminology for ASTM F48 standards is listed
start marker may commence as part of the test or the user may
in Terminology F3323. Terminology specific to this standard
begin each repetition from the start-to-end markers as set by
are shown in this section.
the test requestor.
3.2 Definitions of Terms Specific to This Standard:
4.5 The gap test can include one or more gaps, gap-to-gap
3.2.1 apparatus, n—a structure, object, test component, or
spacing, and gap distances as requested by the test requestor.
artifact thereof, found or placed in an environment and used for
a test. NOTE 3—For the following procedures, the standard gap apparatus is
described. The test requestor may instead use the actual gap(s) in situ to
3.2.2 gap, n—break or hole in the ground surface.
the application.
3.2.3 test suite, n—designed collection of test methods that
4.6 A full gap test is defined as: the user begins by standing
are used, collectively, to evaluate an exoskeleton’s safety
behind a start location, (1) walks across the platform to the
and/or performance.
opposite side, (2) traverses the gap(s), (3) walks across the
platform past the end marker, (4) the user turns around 180°,
4. Summary of Test Method
and (5) repeats steps 1, 2, and 3, and past the start marker.
4.1 The task for this test method, exoskeleton-user travers-
4.6.1 A phased gap test can include one or more phases of
ing gap(s), is defined as the exoskeleton-user performing
the full gap test as follows, beginning with the user standing
behind a start/end location:
4.6.1.1 Phase 1—The user stands behind the start line on the
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM platform of the gap apparatus,
Standards volume information, refer to the standard’s Document Summary page on
4.6.1.2 Phase 2—The user traverses the gap,
the ASTM website.
4.6.1.3 Phase 2a—If more platforms and gaps are used, the
Available from American National Standards Institute (ANSI), 25 W. 43rd St.,
4th Floor, New York, NY 10036, http://www.ansi.org. user traverses multiple gaps,
F3582 − 22
FIG. 1 Examples of Gaps to Step Over: (a) Natural Gaps, (b) Slab Forms in Construction,
(c) Safety Hole Cover, (d) Sidewalk Cracks, and (e) Stone Path
F3582 − 22
NOTE 1—The test course may include one or more gaps.
FIG. 2 Example of a Gaps Test Course Layout
NOTE 4—Practice could help establish the applicability of the exoskel-
4.6.1.4 Phase 3—The user walks across the end line on the
eton for the given test method. It allows the operator to gain familiarity
platform,
with the standard setup, procedure, apparatus, and environmental condi-
4.6.1.5 Phase 4—The user rotates 180°,
tions. It also helps the test supervisor to establish the initial setup,
4.6.1.6 Phase 5—The user repeats Phase 1 in the opposite
procedure, including both the user and testing personnel, or apparatus
direction,
setting for the test, or combinations thereof, when applicable.
4.6.1.7 Phase 6—The user repeats Phase 2 and traverses the
4.12 The test requestor has the authority to select the
same gap again in the opposite direction,
parameters that may affect the user for the gaps task. The test
4.6.1.8 Phase 7—The user repeats Phase 3, although walks
requestor also has the authority to select test methods that
across the start line on the platform.
constitute the test event, to select one or more test site(s) at
4.7 The test requestor shall provide to the test supervisor
which the test methods are implemented, to determine the
prior to the test, whether a full test or phased test will be
corresponding statistical reliability and confidence levels of the
considered the ‘gaps test’ and, if a phased test is requested, the
results for each of the test methods, and to establish the
phase numbers of the phased gap test to be performed.
participation rules, including the testing schedules and the test
4.8 For all tests, the specified path from the START point to environmental conditions. Also, the test requestor has the
the END point shall be defined by the test requestor prior to the
authority to add variations to this test method, including:
test. The required apparatuses are described in Section 6.
4.12.1 Gap test while carrying a load(s);
4.9 The exoskeleton’s capability is defined as the exoskel-
4.12.2 Variations in gap traversal (for example, traverse
eton’s ability to complete the gap task where the user is capable
with only the left foot first, jump over the gap); and
of performing the full gap test or phased gap test and, if
4.12.3 Environmental conditions including, for example,
requested by the test requestor, can perform the task at the
ground surfaces that are level or undulating, hard or soft, dry or
desired speed and stability. In such a case, the average speed
wet; temperatures and humidity levels that are normal or
shall be used as the exoskeleton-user’s capability.
extreme; precipitation that is no, low, or high.
4.10 The exoskeleton user is allowed to practice before the
5. Significance and Use
test.
4.11 Once the test begins, there shall be no verbal commu-
5.1 Exoskeletons are being used in the industrial/
nication between the exoskeleton user and the test supervisor
occupational, military, response, medical, and recreational
regarding the performance of a test repetition, other than
sectors to enhance safety and effectiveness of the user to
instructions on when to start and notifications of faults, and any
perform tasks. Traversing gaps is a component of many tasks
safety-related conditions. The user shall have the full respon-
that someone would do with an exoskeleton. For example, an
sibility to determine whether and when they have completed a
exoskeleton may be used to help a worker in building con-
repetition, and notify the test supervisor accordingly. However,
struction where gaps in ground surfaces are prevalent. In the
it is the test supervisor’s authority to judge the completeness of
military, and other similar environments, soldiers using exo-
the repetition. Additionally, while it is the user’s responsibility
skeletons may traverse gaps along paths carrying loads. Fig. 1
to alert the test supervisor of a safety issue they experience, the
shows examples of gaps typically found in various environ-
test supervisor should also alert the user to pause/stop the test
ments in which persons using exoskeletons may be required to
if there are observable safety concerns (for example, too many
step over gaps. The testing results of exoskeletons shall
falls, equipment malfunction, heart rate exceeds recommended
describe, in a statistically significant way, how reliably the
heart rate for user’s age (1)).
exoskeleton is able to support tasks within the specified types
of environments, confinements, and terrains, and thus provide
4 sufficiently high levels of confidence to determine the applica-
The boldface numbers in parentheses refer to a list of references at the end of
this standard. bility of the exoskeleton to a given task.
F3582 − 22
5.2 This test method addresses exoskeleton safety and 6.2.1 Safety equipment, for example: heart rate monitor,
performance requirements expressed by manufacturing, pulse oximeter, oxygen administration kit,
medical, emergency responders, military, or other organiza- sphygmomanometer, inertial measurement units, joint angle
tions requesting this test. The safety and performance data and speed measurement equipment, telephone, automated elec-
captured within this test method are indicative of the test tronic defibrillator, or Borg Breathlessness Scale that can be at
exoskeleton’s and the exoskeleton user’s capabilities. The the ready as needed.
safety and performance data from these tests are essential to
6.2.2 User measurement devices, for example: walkway
guiding the procurement and deployment decisions of exoskel- (that is, pressure mats) or force plates for human gaps analysis;
eton purchasers and users.
user tracking system; heart rate, pulse, oxygen monitors,
inertial measurement units, or joint angle and speed measure-
5.3 The standard test setup and apparatus (see Section 6) is
ment equipment.
specified to be easily fabricated. This facilitates evaluation and
6.2.3 Loads, for example: tools, crates, or bags (refer to
replication of gap tests by exoskeleton sectors. The standard
Practice F3443).
test setup and apparatus can also be used to support training
(see Practice F3444/F3444M) and to establish proficiency of
6.3 The test course shall include START markings near the
exoskeleton users, as well as provide manufacturers with
gap apparatus.
information about the usefulness of their exoskeleton(s) for
6.4 For a phased gap test, the following additional param-
tasks.
eters shall be set prior to the test:
5.4 Although the test method was developed for the sectors
6.4.1 If there is no Phase 1, the location where the user
listed in 5.1, it may be applicable to other operational domains.
begins the test to traverse a gap(s),
6.4.2 Phase 4—The location, if needed, where the user turns
6. Test Course and Apparatus
around 180°,
6.1 The actual performance space where the exoskeleton is
6.5 Turn-around space for the user to reverse direction shall
to be used or in-situ (that is, typically found in the
be provided according to the apparatus being used. A starting
environment, such as ground surface cracks/crevices, trees,
and ending line, which marks the START and END of the test
loads, natural markings) apparatus of which will be used, or
repetition, should be marked on the floor using brightly colored
both, as exemplified in Fig. 1, may be used for this test. In the
tape. As described in 4.6, the start and end marker may be at
event that the actual performance space or the in-situ
the same location.
apparatus, or both, is not available or the test is to be exactly
replicated by others, or both, test setups and the standard
6.6 Required Apparatus:
apparatus, as described in the following subsections, shall be
6.6.1 1 m or greater straight, unimpeded path to the gap
used. Refer to Fig. 2 for test course layouts and Appendix X2
apparatus,
for apparatus details.
6.6.2 Gap Apparatus (see Fig. 2, Fig. 3, and Appendix X2
6.2 Optional Equipment: for details)—One or more gaps,
FIG. 3 Gap Test Apparatus: (a) Top View, (b) End View showing One Gap between Platforms
F3582 − 22
6.6.3 Timer (for example, stopwatch) with at least 0.1 s the exoskeleton’s capability and efficiency, and the user’s skill
calibrated time resolution, level. Therefore, this temporal aspect is a part of the test and
the results shall be recorded on the test report. The average
NOTE 5—Other time-synchronized tools are: clock synchronized to
speed is specified as the sustained speed. Metrics shall also
WWVB radio or computer-based timing synchronized to network time
include any test anomalies or occurrences, such as: stumbles,
protocol.
trips, falls, rests, variation in gaps throughout the test or from
6.6.4 Repetition Counter,
baseline (that is, called NoEXO when no exoskeleton is used)
6.6.5 Tape or Similar Marking (preferably bright colored),
to exoskeleton test (that is, called EXO when an exoskeleton is
and
used). Test anomalies or occurrences shall be noted on the test
6.6.6 Test Report (see Section 10).
report and may also provide additional statistical importance
7. Hazards from the test requestor.
7.1 Hazards for gaps tests when using exoskeletons can be
8.5 The test requestor has the authority to specify the
as follows: slips, trips, falls, fatigue, and collisions dependent environmental variables, which may affect the test results. All
upon the exoskeleton, the test environment, and the apparatus environmental settings shall be documented using Practice
(for example, surrounding structure (see Fig. 3)). Refer to the F3427.
References section in order to characterize biomechanical
8.6 The test requestor has the authority to specify the
stressors.
number of repetitions required for the test. Considerations for
user fatigue, abilities, exoskeleton capabilities, and other char-
NOTE 6—Although these references address typical risks and mitigation
procedures, they may not address safety issues for an exoskeleton user.
acteristics that may impact the tests shall be considered.
Extending the test should not occur unless under rare circum-
7.2 Safety standards providing risks and mitigation proce-
stances (for example, rehabilitation, mean-time-between-
dures for hazards when using an exoskeleton are developed or
failure tests over many days). Guidance on reliability of test
being developed, including:
data given the number of repetitions is provided in Appendix
7.2.1 ISO 13482, and
X1.
7.2.2 Guide F3527.
8. Calibration and Standardization
9. Procedure
8.1 The exoskeleton configuration as tested shall be de-
9.1 A test requestor requests a gaps test, including all test
scribed in detail on the test report, including all subsystems and
parameters (for example, test apparatus, environment, exoskel-
components and their respective features and functionalities,
eton configuration, etc.) to be recorded and documented.
including version or iteration details as applicable. The con-
9.2 For all tests, the environmental conditions of the space
figuration shall be subjected to all the appropriate tests within
where the test will be performed shall be documented using
the suite of exoskeleton test methods. Any variation in the
Practice F3427, allowing test repeatability.
configuration shall cause the resulting exoskeleton variant to be
9.3 The exoskeleton configuration shall be documented in
retested across all the test suites to provide a consistent and
full detail to ensure that repeatable tests can occur. Upon
comprehensive representation of the performance. Additional
publication and to ensure standardized documentation, Stan-
information describing the exoskeleton, exoskeleton user, and
dard Practice for Recording the Exoskeleton Test Configura-
the exoskeleton fit to the user should also be documented.
tion and Practice F3613 shall be used to record the exoskel-
8.2 Once an exoskeleton user begins a test, by starting to
eton configuration.
execute the task as specified in 4.1, the exoskeleton shall be
9.4 If a load (for example, tool, equipment, artifact load) is
used to perform the task for the specified number of repetitions
to be handled during the test, document the artifact or real load
through completion without changing the exoskeleton or ap-
using Practice F3443.
paratus.
9.5 The test supervisor shall be consistent in their measure-
8.3 A battery may be changed or charged between repeti-
ment technique. For example, measure all subjects in the same
tions provided that other configurations remain unaltered and if
allowed by the test requestor. Battery changes/charging shall manner (for exampl
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