# Method and Test Course for the Evaluation of Industrial Exoskeletons
## 3 Test Course for the Evaluation of Exoskeletons
### Practical Realization of an Exemplary Modular and Reconfigurable Test Infrastructure  
In order to represent multiple workplaces and reduce the number of needed equipment, the proposed test course is realized with a reconfigurable infrastructure. For one-sided and precise coding, the identification tag TI (Test Item) with ascending numbers is used. Regarding ergonomically unfavorable positions, the adapted positioning of the working boards in terms of height, orientation, and positioning also allows simulating forced postures (ITXX*). The infrastructure consists of the following (fixed or movable) items, enabling us to model the identified operational requirements and industrial tasks in the test course:  
* Shelf truck (TI01): The movable truck serves as a shelving system, as the number and height of the shelves are easily adjustable. Placed near a wall, it can also simulate narrow aisles. The two angle pieces are foldable and fixable to stabilize the truck and prevent falling during loading tasks. Besides, the feature helps extend the long side for simulating longer aisles. Thus, it especially enables the evaluation of OR10, IT06, IT07, IT08, and ITXX*. Besides, it can also function as a backbone for the attachment of different working boards (TI04 to TI08). \begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline \multicolumn{3}{c}{**Characteristics**} & \multicolumn{3}{c}{**Task Description**} & \multicolumn{3}{c}{**Variation Parameters**} \\ \hline \hline \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} & \multirow{3}{*}{**S**} \\  & & & & & & & & & & \\ \cline{1-1} \cline{5-12}  & & & & & & & & & & \\ \cline{1-1} \cline{5-12}  & & & & & & & & & & \\ \hline \hline \multirow{2}{*}{**S**} & \multirow{2}{*}{**S**} & \multirow{2}{*}{**S**} & \multirow{2}{*}{**S**} & \multirow{2}{*}{**S**} & \multirow{2}{*}{**S**} & \multirow{2}{*}{**S**} & \multirow{2}{*}{**S**} \\  & & & & & & & & & & \\ \cline{1-1} \cline{5-12}  & & & & & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Test pool for the evaluation of exemplary tasks for industrial exoskeletons. * Stair ramp (TI02): The stair ramp includes steps, a handrail, and a fenced plateau. An inner hollow reduces the total weight and helps the ramp remain easily movable. The plateau can be used as the reversal point or for simulating narrow working places, and the stairs to model tasks in forced postures (e.g., in a stooped posture, below floor level). Accordingly, the ramp enables the evaluation of exoskeletons regarding, e.g., OR09, IT05, IT06, and ITXX*. * Adaptable wall (TI03): The wall comprises several horizontal profiles for the placement and individual height adaption of different horizontal or vertical working boards (TI04 to TI08). The item provides a necessary basis for possible evaluations of, e.g., the tasks IT01, IT02, IT03, IT04, IT05, and ITXX*, and especially of activities performed above head level. * Screwing board (TI04): Depending on the working tool, the screwing board lays the foundation for two ways of evaluating IT01. First, pre-fixed screws can be torqued in a bar with a nut runner (single-handed). Second, several screws can be directly screwed (in a predefined way) with an electric screwdriver (both-handed). * Plasterboard wall (TI05): Several connected plasterboards allow simulating different working tasks on walls or the ceiling, e.g., grinding, cleaning, mounting, or painting tasks. Accordingly, coarse requirements of, e.g., task IT02 can be covered. After each test person, the initial situation can be restored since plasterboards can easily be repaired with priming material or replaced. * Suspension device (TI06): The suspension device uses pipe clamps tightened with a screwable strap. It fixes cylindrical, elongated tubes by being clamped into the corresponding holder.