1.1 目的: 1.1.1 作为一套外骨骼使用测试方法的一部分，该测试方法的目的是定量评估外骨骼的（参见术语 F3323 )安全（参见 1.4 )或性能，或两者，步态。 1.1.2 外骨骼应具备一定的允许外骨骼用户移动能力，包括用户移动适应性，以适应以下操作:工业/职业、军事、反应、医疗或娱乐。这些典型部门的环境通常在不同程度上对外骨骼用户的移动造成限制。能够按照用户或测试请求者的意图行走，同时使用外骨骼对于各种任务的外骨骼部署至关重要。 该测试方法规定了测试设置、程序和记录，以标准化该步态任务，以测试外骨骼用户的运动。 1.1.3 外骨骼应能够处理多种类型的任务和地形复杂性。所需的移动能力包括，例如:行走、跑步、爬行、攀爬、穿越缝隙、跨栏、楼梯、斜坡、各种地板表面或地形以及受限空间。需要标准测试方法来评估外骨骼是否符合这些要求。 1.1.4 ASTM小组委员会F48.03制定并维护任务执行和环境考虑的国际标准，包括但不限于安全、质量和效率标准。 该小组委员会旨在为任何外骨骼应用开发标准，如中所示 1.1.2 . F48.03测试套件由一组用于评估外骨骼能力需求的测试方法组成。这种步态测试方法是测试套件的一部分。与测试方法相关的设置、程序和设备以可重复的方式挑战特定的外骨骼能力，以便于比较不同的外骨骼模型或外骨骼能力与任务。并非所有外骨骼都具有使用该测试方法所需的能力。 1.1.5 本测试方法测试通用步态外骨骼能力，路径笔直，没有测试过程曲线、障碍物或本文未描述的其他复杂性（参见 4.6 ). 该测试方法被视为外骨骼步态能力测试的基础。 1.1.6 测试方法量化了中列出的部门应用所需的基本外骨骼使用能力 1.1.2 ，也许还有其他人。因此，本标准的用户应根据其特定要求使用整个套件或子集。用户还可以根据其特定需求对测试方法中的特定测试方法或特定指标进行不同的加权。根据任务的要求，测试结果应共同代表外骨骼的整体安全性或性能，或两者兼而有之。可以使用这些性能数据: 指导采购规范、验收测试和培训，以使用用于特定应用的外骨骼。 注1: 预计将开发套件中的其他测试方法，以解决额外的外骨骼能力需求，包括新确定的需求，甚至针对新的应用领域。 1.2 执行位置- 该测试方法应在测试实验室或代表外骨骼使用地点的现场进行。 1.3 单位- 以国际单位制表示的数值应视为标准。括号中给出的值不是精确的英寸数学转换- 磅单位。它们是近似等效物，用于指定材料尺寸或数量，以避免试验装置的过度制造成本，同时保持试验方法结果的重复性和再现性。括号中给出的这些值仅供参考，不被视为标准值。 1.4 本标准并非旨在解决与其使用相关的所有安全问题（如有）。本标准的用户有责任在使用前制定适当的安全、健康和环境实践，并确定监管限制的适用性。 1.5 本国际标准是根据世界贸易组织技术性贸易壁垒（TBT）委员会发布的《关于制定国际标准、指南和建议的原则的决定》中确立的国际公认标准化原则制定的。 ====意义和用途====== 5.1 外骨骼被用于工业/职业、军事、反应、医疗和娱乐部门，以提高用户执行任务的安全性和有效性。步态是一个人用外骨骼完成的许多任务的组成部分。例如，外骨骼可用于帮助遭受腿部创伤的患者康复。 在制造业、仓储业、军事和其他类似环境中，作为日常活动的一部分，外骨骼中的工人和士兵带着或不带负载行走，多次在室内或室外长距离行走。 图1 显示了外骨骼用户行走的示例，根据任务的不同，可能需要佩戴外骨骼时穿过各种地面。外骨骼的测试结果应以具有统计意义的方式描述外骨骼能够在指定类型的环境、限制和地形内支持任务的可靠性，从而提供足够高的置信度，以确定外骨骼对给定任务的适用性。 图1 外骨骼用户在不同区域行走的示例 注1: 示例包括:( 一 )医疗康复（由Gogoa提供）( b )军事物资搬运（由Mawashi提供）( c )当兵（由Mawashi提供）( d )休闲徒步穿越冰雪( e )作为日常工作职责的一部分在人行道上行走（由Humotech提供），以及( f )工业工人在行走前从椅子上站起来（由SuitX提供）。 5.2 本试验方法解决了制造业、应急响应者、军方或要求本试验的其他组织提出的外骨骼安全和性能要求。本测试方法中获取的安全和性能数据表示测试外骨骼和外骨骼用户的能力。 拥有来自测试外骨骼的可用直接信息和相关性能数据，以指导采购和部署决策，对于外骨骼购买者和用户至关重要。 5.3 标准测试装置和仪器（见第节 6. )被指定为易于制造，以便于外骨骼设计师、开发人员、制造商和用户进行步态测试的自我评估和复制。标准测试设置和仪器也可用于支持培训和确定外骨骼用户的熟练程度，并为制造商提供有关其外骨骼对任务有用性的信息。 5.4 虽然该测试方法是为表中列出的部门开发的 5.1 ，它可能适用于其他操作领域。

1.1 Purpose: 1.1.1 The purpose of this test method, as a part of a suite of exoskeleton use test methods, is to quantitatively evaluate an exoskeleton’s (see Terminology F3323 ) safety (see 1.4 ) or performance, or both, for gait. 1.1.2 Exoskeletons shall possess a certain set of allowable exoskeleton user movement capabilities, including user-motion adaptability, to suit operations such as: industrial/occupational, military, response, medical or recreational. Environments in these typical sectors often pose constraints to exoskeleton user movement to various degrees. Being able to walk, as intended by the user or test requestor, while using an exoskeleton is essential for exoskeleton deployment for a variety of tasks. This test method specifies test setup, procedure, and recording to standardize this gait task for testing exoskeleton user movement. 1.1.3 Exoskeletons shall be able to handle many types of task and terrain complexities. The required movement capabilities include, for example: walking, running, crawling, climbing, traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined spaces. Standard test methods are required to evaluate whether or not exoskeletons meet these requirements. 1.1.4 ASTM Subcommittee F48.03 develops and maintains international standards for task performance and environmental considerations that include but are not limited to, standards for safety, quality, and efficiency. This subcommittee aims to develop standards for any exoskeleton application, as exemplified as in 1.1.2 . The F48.03 test suite consists of a set of test methods for evaluating exoskeleton capability requirements. This gait test method is a part of the test suite. The setup, procedure, and apparatuses associated with the test methods challenge specific exoskeleton capabilities in repeatable ways to facilitate comparison of different exoskeleton models or exoskeleton capabilities to tasks. Not all exoskeletons may have the capabilities needed to use this test method. 1.1.5 This test method tests for generic gait exoskeleton capability, with straight paths and no test course curves, obstacles, or other complexities not described herein (see 4.6 ). This test method is considered the basis for exoskeleton gait capability testing. 1.1.6 The test methods quantify elemental exoskeleton use capabilities necessary for sector applications listed in 1.1.2 , and perhaps others. As such, users of this standard should use either the entire suite or a subset based on their particular requirements. Users are also allowed to weight particular test methods or particular metrics within a test method differently based on their specific requirements. The testing results should collectively represent an exoskeleton’s overall safety or performance, or both, as required for the task. These performance data can be used: to guide procurement specifications, for acceptance testing, and for training to use exoskeletons intended for specified applications. Note 1: Additional test methods within the suite are anticipated to be developed to address additional exoskeleton capability requirements, including newly identified requirements and even for new application domains. 1.2 Performing Location— This test method shall be performed in a testing laboratory or at a site that represents the place where the exoskeleton will be used. 1.3 Units— The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to inch-pound 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. 1.4 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. 1.5 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. ====== Significance And Use ====== 5.1 Exoskeletons are being used in the industrial/occupational, military, response, medical, and recreational sectors to enhance safety and effectiveness of the user to perform tasks. Gait is a component of many tasks that someone would do with an exoskeleton. For example, an exoskeleton may be used to help rehabilitate a patient who suffered a traumatic leg injury. In manufacturing, warehousing, military, and other similar environments, workers and soldiers in exoskeletons walk with and without carrying loads, many times over long distances, indoors or outdoors, as part of their daily activities. Fig. 1 shows examples of exoskeleton users walking, which, depending upon the task, may require people to traverse various ground surfaces while wearing an exoskeleton. The testing results of exoskeletons shall describe, in a statistically significant way, how reliably the exoskeleton is able to support tasks within the specified types of environments, confinements, and terrains, and thus provide sufficiently high levels of confidence to determine the applicability of the exoskeleton to a given task. FIG. 1 Examples of Exoskeleton Users Walking in Various Sectors Note 1: Examples include: ( a ) medical rehabilitation (courtesy Gogoa), ( b ) military material handling (courtesy Mawashi), ( c ) military soldiering (courtesy Mawashi), ( d ) recreational hiking through snow and ( e ) walking on pavement as part of daily work duties (courtesy Humotech), and ( f ) industrial worker standing up from a chair prior to walking (courtesy SuitX). 5.2 This test method addresses exoskeleton safety and performance requirements expressed by manufacturing, emergency responders, military, or other organizations requesting this test. The safety and performance data captured within this test method are indicative of the test exoskeleton’s and the exoskeleton user’s capabilities. Having available direct information from tested exoskeleton(s) with associated performance data to guide procurement and deployment decisions is essential for exoskeleton purchasers and users. 5.3 The standard test setup and apparatus (see Section 6 ) is specified to be easily fabricated to facilitate self-evaluation and replication of gait tests by exoskeleton designers, developers, manufacturers, and users. The standard test setup and apparatus can also be used to support training and establish proficiency of exoskeleton users, as well as provide manufacturers with information about the usefulness of their exoskeleton(s) for tasks. 5.4 Although the test method was developed for the sectors listed in 5.1 , it may be applicable to other operational domains.