Test methods for exoskeletons-lessons learned from industrial and response robotics

Exoskeletons are devices that can assist the human wearer's limbs to provide functional, normal, or amplified human capabilities. Research on exoskeletons has dramatically increased recently. However, measurements of these devices have yet to show long-term safety and other effects on humans. Safety standards now allow, through risk assessment, both manufacturing and wearable robots to be used, although performance standards for both systems are still lacking. Much can be learned from industrial and response robot safety and performance research and standards activities that can cross over into the exoskeleton arena. For example, ongoing research to develop standard test methods to assess performance of manufacturing robots and emergency response robots can inspire similar test methods for exoskeletons. This chapter first lists exoskeleton performance metrics and standards for collaborative industrial robots, response robots, and also physical assistance robots (i.e., exoskeletons). Then, it describes measurements of joint axis rotation location using an industrial robot simulating a human arm, as well as mobile manipulator and response robot test method developments that could also apply to exoskeletons. These methods and others are then integrated into recommendations for exoskeleton test methods.