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Initial Testing Plan

Assistive Hip Exoskeleton

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Design Requirements Summary

CR#	Customer Requirement
CR1	Improved Walking Assistance
CR2	Comfortability
CR3	Low Profile Design
CR4	Safe Operation
CR5	Within Budget

ER#	Engineering Requirement
ER1	NEMA 1 enclosed system
ER2	10 Nm moment about the hip joint
ER3	35°/15° + 15° (min + 15 = max) flexion/extension
ER4	50° + 15° (min + 15 = max) abduction/adduction
ER5	50° + 15° (min + 15 = max) internal/external rotation
ER6	<3.0 kg exoskeleton weight
ER7	Project cost < $2000
ER8	<40 mm lateral plane protrusion
ER9	Maximum Safe Motor Torque Output

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Top Level Testing Summary

Experiment/Test	Relevant DRs
Thermal Safety	CR4, CR2
NEMA 1 Enclosure	CR4, CR3, ER1, ER8
(Fitting) ISO 13482:2014	CR1, CR4, CR2, ER3, ER4, ER5, ER6, ER8
Walk Test	CR1, CR2, CR3, ER8, ER9, ER2

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Detailed Testing Plans (NEMA 1)

CR & ER Requirements

CR4 - Safe Operation
CR3 - Low Profile Design
ER1 - NEMA 1 enclosed system
ER8 - <40 mm lateral plane protrusion

Procedure:

Dirt poured top, sides, and bottom of Enclosure
Remove Device top of enclosure measure grams of dirt entered device

Measurements Variables:

Dirt (g) into the device
Device is enclosed

Calculated Variables:

ER1 NEMA 1 Enclosure Standard (Pass/fail)
ER2 Low profile

Resources/Equipment:

Prototype
Housing Prototype
Dirt (30g)
Lab Facilities

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Detailed Testing Plans (Thermal Safety)

CR & ER Requirements

CR4 - Safe Operation
CR3 -Comfortable

Procedure:

Power on the device
Wait for 5–10-minute of usage
Ensure the max torque is applied
Collect Data in 60 second Increments

Measurements Variables:

Temperature of motor in C°

Calculated Variables:

Temperature of motor in C° < 33 C°

Resources/Equipment:

Prototype
Lab Software operating
Lab Facilities
Participant

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Detailed Testing Plans – (Fitting Test)

CR & ER Requirements

CR2- Comfortability
CR3-Low Profile Design
CR4-Safe Operation
ER3- 35°/15° Flexion/Extension
ER4- 50° /15 Abduction/Adduction
ER5- 50°/15° Internal/External Rotation
ER8 - <3.0 kg exoskeleton weight

Procedure

Potential hazards of device explained orally and written before device is donned by participant (ISO-3482:2014)
Angles of movement Measured
Weight of Device measured

Measurements Variables

Device Protrusion in mm
Comfortability Survey
Flexion/extension in degrees
Abduction/adduction in degrees
Internal/external rotation in degrees

Calculated Variables

Device Protrusion in mm
Comfortability Survey
Flexion/extension in degrees
Abduction/adduction in degrees
Internal/external rotation in degrees

Resources/Equipment

Fully assembled device
Participant
Comfortability Survey
Measurement Device
Written hazards Review and consent form
Lab Facilities

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Detailed Testing Plans – (Walk Test)

CR & ER Requirements

CR1- Improved Walking Assistance
CR2- Comfortability
CR3- Low Profile Design
ER2 - 10 Nm moment about the hip joint
ER8- <40 mm lateral plane protrusion
ER9 - Maximum Safe Motor Torque Output

Procedure:

Participant will walk 6 meters without device on twice
Participant will don device
Device will be powered on
Max toque will be provided via control software
Participant will walk 6 meters with device powered on
Assistive Torque will be monitored through lab control software
Participant takes off device
During testing video footage should be captured

Measurements Variables:

Torque Output in Nm
Participant Comfortability

Calculated Variables:

Amount of gait assistance provided from Torque in Nm
Comfortability on scale 1-10

Resources/Equipment:

Fully Assembled Prototype
Lab control software app
Participant
Comfortability Survey
Written hazards Consent
Lab Facilities

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Specification Sheet Preparation

Customer Requirement	Met/Not Met (Yes/No)	Client Approved (Yes/No)
CR1 -Improved Walking Assistance
CR2-Comfortability	Yes
CR3 - Low Profile Design	Yes
CR4 -Safe Operation
CR5 -Within Budget	Yes

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Specification Sheet Preparation

Engineering Requirement	Target	Tolerance	Measured/ Calculated	ER met? (yes/no)	Client Acceptable (yes/no)
ER1 -NEMA 1 enclosed system	0 g dirt	+ 5 g	1 g	Yes	Yes
ER2- Moment about the hip joint	>10 Nm	- 1 Nm	16 Nm	Yes	Yes
ER3 - flexion/extension	35°/15°	+/- 5°	40°/20°	Yes	Yes
ER4- abduction/adduction	50°/15°	+/- 5°	56°/15°	Yes	Yes
ER5 - Internal/external rotation	>50°/15°	-0°	90°/90°	Yes	Yes
ER6 Device weight	<3kg	+ 0.3 kg	2.8 kg	Yes	Yes
ER7 Project cost < $2000	<$2000	+ $0	$1362.5	Yes	Yes
ER8 40 mm lateral plane protrusion	40 mm	+/- 5 mm	38 mm	Yes	Yes
ER 9 Maximum Safe Motor Torque Output	<9 Nm	+ 0 Nm	8 Nm	Yes	Yes

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Initial Results (50%)

NEMA 1 – Complete

Fitting Test – Complete

Thermal Safety – Incomplete

Walk Test – Incomplete

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NEMA 1 Test Results

Device and dirt was weighed after each test
Scale measurement uncertainty +/-0.01g
No more than 2g of dirt entered the device
Brushes were effective in pushing out the dirt

Weight of Device Between Procedures
Before Trial 1		After Trial 1		Before Trial2		After Trial 2
0.37kg	Device	0.37kg	Device	0.37kg	Device	0.37kg	Device
32g	Dirt	32g	Dirt	32 g	Dirt	31 g	Dirt

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Fitting Test – Results

(Forward and backward motion)

(Lateral motion)

(Foot rotation)

Three degrees of Freedom Testing
Condition	Goal Angle	Measured Angle
Flexion/Extension	35°/15°	40 °
Abduction/Adduction	50°/15°	57°
Internal/External rotation	50°/15°	90°

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Comfortability Survey

Is there any source of discomfort?
Did the device weigh you down?
Did the device interfere with range of motion?
Did protrusion interfere with normal motion?
On a scale of 1-10 rate comfort

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QFD

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Questions?