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Evaluation Methods and Measurement Challenges for Industrial Exoskeletons



Ya-Shian Li-Baboud, Ann Virts, Roger Bostelman, Soocheol Yoon, Amaan Rahman, Lucia Rhode, Nishat Ahmed, Mili Shah


In recent years, exoskeleton test methods for industrial exoskeletons have evolved to include simulated laboratory and field environments. Physiological, kinematic and kinetic metrics, as well as subjective surveys are used to evaluate exoskeleton usability. In particular, exoskeleton fit and usability can also impact the safety and effectiveness of exoskeletons in reducing musculoskeletal injuries. This paper surveys the state-of-the-art in measurement methods applied in exoskeleton evaluation. A notional classification of the metrics based on exoskeleton fit, task efficiency, comfort, mobility, and balance is proposed. In addition, the paper describes the test and measurement methods used in supporting the development of exoskeleton and exosuits evaluation methods to assess exoskeleton fit, usability, and effectiveness in industrial tasks such as peg-in-hole, load align, and applied force. Finally, the paper includes a discussion of how the metrics can be applied towards systematic evaluation of industrial exoskeletons, current measurement challenges, and future research directions.
Journal of Senors


exoskeleton, evaluation method, performance metrics


Li-Baboud, Y. , Virts, A. , Bostelman, R. , Yoon, S. , Rahman, A. , Rhode, L. , Ahmed, N. and Shah, M. (2023), Evaluation Methods and Measurement Challenges for Industrial Exoskeletons, Journal of Senors, [online],, (Accessed June 22, 2024)


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Created June 15, 2023