# Method and Test Course for the Evaluation of Industrial Exoskeletons
## 3 Test Course for the Evaluation of Exoskeletons
### Evaluation of Industrial Tasks  
Regarding the modeling and simulation of industrial activities in a test course, nine clusters form a test pool of tasks with varying focus and properties. Tasks with similar, comparable characteristics (e.g., different activities above head level equivalently requiring applied normal forces vertically away from the body, granular precision activities such as the insertion of objects into predefined positions or the plugging of components) are aggregated to coherent clusters but varying in terms of requirements and characteristics between the clusters. For better classification, three characteristics specify the focus for each representative task in terms of dynamics, granularity, and handedness. Concerning the dynamics of test tasks, dynamic and static activities are distinguished. Therefore, the addressed body part of support is decisive for the characterization of the task. For instance, while torquing above head level, the trunk and upper extremities usually remain static, while the arms move up and down dynamically. In this case, the task would be considered a dynamic task. Concerning the granularity of test tasks, coarse and fine works are distinguished. As a result, this categorization helps classify between operations with precision focus and rough operations with larger object handlings. The third categorization addresses handedness and describes whether a task is either performed single-handed or with both hands. For better comparability between different test persons, the handedness (e.g., left- or right-handed) can individually be adapted. In the following, one exemplary task represents each cluster. The identification tag IT (Industrial Task) with ascending numbers codes the activities one-sidedly and precisely. Depending on the focus of the investigation, an individual modification of the stations remains possible. The test course represents the following pool of tasks:  
Figure 3: Test pool for evaluating operational requirements of industrial exoskeletons. Overhead torquing (IT01): This test task focuses on the static or dynamic performance of activities above head level, where, e.g., activities require the use of additional tools. The task is performed dynamically if the arm is cyclically lowered vertically after each torquing and moved upwards again. If the arm remains in the same posture or only adjustably moves, the task is considered static. The torquing can be specified as, e.g., drilling or screwing. A possible modification is to perform the task in front of the body. - Grinding walls (IT02): The characteristic of this task is using a long-range tool with a higher dead weight, requiring a two-handed operation. The application focuses on large-scale, rotational, dynamic movements in vertical or horizontal directions. - Hanging objects (IT03): This task assesses dynamically hanging items in variable height ranges with pinpoint accuracy on defined fixtures. A possible modification is the hooking of objects at undefined spots. Depending on the design of the task, it allows testing varying levels of precision. - Clamping pipes (IT04): In this task, items are clamped in defined fixtures of different heights. The objects can have different shapes in terms of length, form, material, and weight. The tasks can be performed above head level or in front of the body. - Setting bolts (IT05): This static task tests fine motor skills and concentration. Objects such as bolts, nails, or screws must be precisely placed at predefined spots. - Relocating boxes (IT06): In this task, various objects with different properties (e.g., size, weight, shape) are moved horizontally in a static, bent-forward posture. Only a low stroke is required to lift the objects. - Sorting boxes (IT07): This dynamic task aims at the targeted sorting of objects at different heights. This activity requires a combined horizontal, vertical, and rotational sequence of movements. A typical application is the storage of boxes on a shelf.