本CEN车间协议定义了一种方法，用于获取下肢可穿戴设备在不平坦地形上运动时的性能指标，从而能够在系统之间对这些性能指标进行定量比较。 本文件包括: -由倾斜不平、阶梯状、松软和非结构化地形的不同组合组成的试验台的形态描述， -一套要求和建议的绩效指标， -收集性能指标所需的实验程序，以及 -统一测试报告的结构。 本文件旨在供任何类型的下肢矫形器、外骨骼或假肢的开发人员、制造商、研究人员和最终用户使用，与结构特性（硬或软）、驱动类型（动力或非动力）、身体覆盖（躯干、脊柱、髋关节、膝盖、脚踝、全腿）无关，以及应用领域（工业、医疗保健、消费者）。 本文件的一部分可能适用于其他类型的两足系统，例如，自主或遥控的类人机器人。在这些情况下，CWA代表了一个基础，可以通过包括与这些两足系统特别相关的其他方面（例如自主决策、感知或认知能力）来扩展。 本文件不适用于非两足地面系统，例如轮式机器人、四足动物和六足动物。对所提出的绩效指标提供科学或临床意义超出了本文件的范围。应用本CWA所得结果的解释权留给文件使用者。 所定义的方法不适用于比较下肢矫形装置在日常生活活动中的性能，尽管试验台的元件似乎与日常障碍物相似。 由于骨科器械的不同使用者表现出不同的情况，量化绩效指标的比较仅对同一受试者有效。 例如，进行类似于上述测试的日常生活活动时，会伴随着突然的偏离事件，如双重任务、注意力下降和疲劳。相反，测试台提供了可重复的约束。 通过本试验方法可获得的比较是指整个双足系统的性能；在骨科领域，包括剩余身体结构和组装在骨科设备中的几个其他组件的单独嵌入。此方法不支持有关观察系统中单个元件性能的结论。

This CEN Workshop Agreement defines a methodology to obtain performance indicators of lower-limb wearable devices during locomotion on uneven terrain, which enables a quantitative comparison of these performance indicators between systems. This document includes: - a morphological description of a test bed composed of different combinations of inclined uneven, stepped, soft and unstructured terrain, - a set of required and recommended performance indicators, - the experimental procedure needed to collect the performance indicators, and - the structure of a unified test report. This document is intended to be used by developers, manufacturers, researchers, and end-users of any type of lower-limb orthoses, exoskeleton or prostheses, independently from the structural properties (hard or soft), actuation typology (powered or unpowered), body coverage (trunk, spine, hip, knee, ankle, full leg), and application domain (industrial, healthcare, consumer). Part of this document may be applied to other types of bipedal systems, e.g. humanoids, either autonomous or teleoperated. In these cases, this CWA represents a basis that may be extended by including other aspects specifically related to these bipedal systems (e.g. autonomy decision, perception, or cognitive abilities). This document does not apply to non-bipedal over ground systems, e.g. wheeled robots, quadrupeds, and hexapods. It is out of the scope of this document to provide a scientific or clinical meaning to the proposed performance indicators. The interpretation of the results obtained from the application of this CWA is left to the user of the document. The defined methodology is not suitable for comparing the performance of lower-limb orthopaedic devices in activities of daily living, although elements of the test bed appear to be similar to everyday obstacles. As different users of orthopaedic devices show different conditions, the comparison of quantified performance indicators is only valid for the same subject. Performing activities of daily living similar to the described test is for example accompanied by sudden deflecting events like dual tasks, decreasing concentration and tiring. In contrast, the test bed provides repeatable constraints. The comparisons obtainable by this test method refer to the performance of the entire bipedal system; in the orthopaedic field, that includes the individual embedding of the remaining body structure and several other components assembled in the orthopaedic device. This methodology does not support conclusions about the performance of single elements in the observed system.