# Method and Test Course for the Evaluation of Industrial Exoskeletons
## 3 Test Course for the Evaluation of Exoskeletons
### Evaluation of Operational Requirements  
Regarding the operational requirements, four different categories with varying focuses and aims are identified to qualitatively evaluate the general usability of the exoskeleton(s) in the first step. The four categories are (1) exoskeleton handling, (2) motoric movements, (3) secondary activities, and (4) operating ability. In order to analyze relevant aspects, these categories are broken down into twenty specific requirements. Nevertheless, the pool does not replace any (mandatory or legally binding) tests, certifications, or risk analyses at workplaces for system manufacturers and employers. It should merely provide operational testing scenarios for system users with regard to the focused application purpose. For clear coding, the identification tag OR (Operational Requirement) with ascending numbers is used. The test course comprises the following pool of operational requirements:  
Category 1 (exoskeleton handling) focuses on elementary functions in the process of utilizing the exoskeleton. Related requirements are:  
* (Independent) Donning (OR01): System users need to don the exoskeleton. The duration and the possibility of independently donning the system are evaluated as these aspects influence workplace organizations. * (Independent) Doffing (OR02): System users need to doff the exoskeleton. Equivalent to the donning of the system, the duration and the possibility of independently doffing the system are of primary interest as these aspects influence workplace organizations and safety aspects. * Operability/Control (OR03): System users can operate the exoskeleton on their own. If system-sided possible, different support modes need to be easily adjustable to and applicable for the user, as these aspects influence the usability and time for familiarization. * Decoupling of support (OR04): Certain body postures in specific working tasks (e.g., hip flexion while walking underneath a lowered ceiling, shoulder abduction while lifting a box from the ground) might technically induce exoskeletal support, which disturbs the system user more than it helps. Thus, it might be necessary to decouple or block the system's support in working situations. Category 2 (motoric movements) considers elementary functions checking for possible movement restrictions of the user while wearing the exoskeleton. In this context, the freedom of movement is of central interest for the evaluation. Related requirements are:  
Figure 2: Interrelation between real application scenarios and test course environment. Walking (OR05): System users can walk long distances while wearing the exoskeleton, as walking is an integral part of work profiles in industrial work. - Squatting (OR06): System users can squat while wearing the exoskeleton, as bending over and general mobility is highly affordable in industrial application scenarios of exoskeletons. - Swinging arms (OR07): As most industrial activities require using hands and arms to perform tasks, system users can flexibly swing their arms in a horizontal and vertical rotation around body axes. For instance, elementary movements of the shoulder need to remain possible (e.g., extension/flexion and abduction/adduction). - Rotating the trunk (OR08): System users can rotate their trunk and flexibly perform upper body movements even when wearing an exoskeleton. Category 3 (secondary activities) includes side tasks and movements people still need to perform in addition to main activities. Related requirements are: - Climbing stairs/ladders (OR09): Mobility while wearing the exoskeleton needs to be guaranteed, even during the use of climbing aids such as stairs or ladders. - Walking through narrow aisles (OR10): The maneuverability of an exoskeleton in narrow aisles (e.g., between two shelves) is crucial since it determines the user's agility and a possible risk of getting stuck.