1.1 本实践提供了关于在外骨骼的设计和评估中利用人体数字建模的信息。本惯例规定: 1.1.1 数字人体建模（DHM）方法的基本术语、定义、原理、方法、输入和预期输出。 1.1.2 用于设计新外骨骼或新工作过程或两者的建模方法和预期输出的原理。 1.1.3 评估现有外骨骼设备和人-外骨骼协作/团队任务的建模方法原理和预期输出。 1.1.4 消费者评估在其领域使用外骨骼产品的益处的建模方法和预期输出的建议。 1.2 实践没有描述关于模型建立和参数确定的所有细节。相反，这种实践为观众提供了必要的建模程序和预防措施，并产生了专门用于设备设计或评估目的的解释。 1.3 以SI单位表示的值应被视为标准。示例中给出的值未经精确验证，仅供参考，不被视为标准值。 1.4 目录: 部分: 标题: 1 范围 2 参考文献 2.1 ASTM标准 2.2 其他标准 3 术语 4 实践总结 5 意义和用途 6 模型组件 6.1 人体模型分类 6.2 自由度 6.3 外骨骼CAD模型开发软件 6.4 模型拟合 6.4.1 现实中的一般静态拟合 6.4.2 通用动力适合现实 6.4.3 DHM中的虚拟拟合 7 建模程序和结果报告指南 7.1 1级模型 7.2 2级细节链节段生物力学模型 7.3 3级和4级模型 8 型号选择和应用通用指南 8.2 用于设计新型外骨骼设备交互任务/作业的模型选择 8.3 用于模拟现有交互任务/作业的模型选择 9 已知问题和一般建议 9.1 试衣:近乎完美与现实 9.2 人体模型和外骨骼模型之间的接触点/关节 10 关键词 1.5 本标准并不旨在解决与其使用相关的所有安全性问题（如果有）。本标准的使用者有责任在使用前建立适当的安全、健康和环境实践并确定法规限制的适用性。 1.6 本国际标准是根据《关于制定国际标准、指南和建议的原则的决定》中确立的国际公认的标准化原则制定的ns由世界贸易组织技术性贸易壁垒（TBT）委员会发布。 ======意义和用途====== 5.1 该实践指导用户选择数字人体建模方法、各种建模重点和可用结果，用于评估现有外骨骼的性能和预测/模拟外骨骼概念设计的性能。 图1 显示了用于开发用于不同目的的数字人体外骨骼模型的流程图。总体而言，DHM在人-外骨骼相互作用的应用中有两种主要用途。首先，DHM可用于模拟预期任务、特定预期外骨骼设计，并预测用户的预期工作负载。这种类型的DHM的结果可用于虚拟设计新的外骨骼装置或设计/评估新的人类-外骨骼相互作用场景。DHM的第二个典型用途是评估真实的人-外骨骼交互任务。构建这种DHM所需的数据主要来自真实数据收集，其中从实验室环境中的模拟任务或现场中的真实任务收集用户的人体测量、运动、外力以及exo设备的运动学。更多详细信息可在第节中找到 7 . DHM的两个主要应用（即模拟和评估）使用单独的颜色来说明。 5.2 使用DHM在理解用户和外骨骼之间的团队操作方面的好处主要包括: (1) 减少设备开发周期的时间和成本，不需要真实的原型，所有的设计/再设计程序都可以虚拟高效地完成，设计程序具有良好的灵活性；(2) 在探索各种外骨骼设计思路和人-外骨骼交互场景的同时，避免不确定性带来的潜在风险； (3) DHM还可以提供在真实的人-外骨骼交互过程中施加在用户身上的内部负载的离线估计，识别与姿势、负载和其他人-外骨骼交互相关的潜在风险；和 (4) DHM可用作监控解决方案，以提供实时工作负载估计和风险识别。详细的模型组件和建模过程将在章节中解释 6 和 7 . 5.3 这种做法有望为许多（尽管不是全部）人-外骨骼相互作用活动的估计和评价提供指导。本实践中描述的方法可用作DHM的基本方法，或用作开发人类-外骨骼相互作用的额外和高级DHM的指南。

1.1 This practice provides information about utilizing human digital modeling in the design and evaluation of exoskeletons. This practice specifies: 1.1.1 Basic terminology, definitions, principles, methods, inputs, and expected outputs of digital human modeling (DHM) methods. 1.1.2 Principles of modeling methods and expected outputs for designing new exoskeletons or for new work processes, or both. 1.1.3 Principles of modeling methods and expected outputs for evaluating existing exoskeleton devices and human-exoskeleton collaborative/teaming tasks. 1.1.4 Recommendations of modeling methods and expected outputs for consumers to estimate the benefit of using exoskeleton products in their domain. 1.2 The practice does not describe all the details about the model establishment and parameter determination. Instead, this practice provides audiences with necessary modeling procedures and precautions, and results in an interpretation specifically for device design or evaluation purposes. 1.3 The values stated in SI units are to be regarded as the standard. The values given in the examples are not precisely validated, are provided for information only, and are not considered standard. 1.4 Table of Contents: Section: Title: 1 Scope 2 Referenced Documents 2.1 ASTM Standards 2.2 Other Standards 3 Terminology 4 Summary of Practice 5 Significance and Use 6 Model Components 6.1 Human Model Classification 6.2 Degrees-of-Freedom 6.3 Exoskeleton CAD Model Development Software 6.4 Model Fitting 6.4.1 General Static Fit in Reality 6.4.2 General Dynamic Fit in Reality 6.4.3 Virtual Fitting in DHM 7 Guide for Modeling Procedure and Results Report 7.1 Level 1 Models 7.2 Level 2 Detail Link-Segment Biomechanical Models 7.3 Level 3 and 4 Models 8 General Guide for Model Selection and Applications 8.2 Model Selection for Designing New Exoskeleton Device Interactive Task/Job 8.3 Model Selection for Simulating Existing Interactive Task/Job 9 Known Issues and General Suggestions 9.1 Fitting: Virtually Perfect vs. Reality 9.2 Contact Point/Joint Between the Human Model and the Exoskeleton Model 10 Keywords 1.5 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use. 1.6 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee. ====== Significance And Use ====== 5.1 This practice guides the user through a selection of digital human modeling methods, various modeling focuses, and available outcomes for use in evaluating the performance of existing exoskeletons and predicting/simulating the performance of exoskeleton concept designs. Fig. 1 shows a flow chart for developing a digital human-exoskeleton model for a different purpose. Overall, there are two major usages of DHM in the application of human-exoskeleton interaction. First, DHM can be used to simulate an expected task, a specific expected exoskeleton design, and predict expected workloads on users. The results from this type of DHM can be used to virtually design a new exoskeleton device or design/evaluate new human-exoskeleton interaction scenarios. The second typical use of DHM is for the evaluation of real human-exoskeleton interactive tasks. Data required to build such DHM are mainly from real data collection where users’ anthropometry, motion, external forces, as well as kinematics of the exo devices are collected from a simulated task in a laboratory environment or a real task in the field. Further details can be found in Section 7 . Two major applications of DHM (that is, simulation and evaluation) are illustrated using separate colors. 5.2 The benefits of using DHM in understanding the teaming operation between users and exoskeletons mainly include: (1) reduce time and costs of the equipment development cycle, no real prototype is needed, and all the design/redesign procedures can be completed virtually and efficiently with good flexibility of the design procedure; (2) avoid potential risks due to uncertainty while exploring various exoskeleton design ideas and human-exoskeleton interaction scenarios; (3) DHM can also provide an offline estimation of internal loads placed on users during real human-exoskeleton interaction, identifying potential risks associated with posture, loads, and other human-exoskeleton interaction; and (4) DHM can be used as a surveillance solution to provide real-time workloads estimations and risks identification. The detailed model components and modeling procedure are explained in Sections 6 and 7 . 5.3 This practice is expected to provide guidance for many, although not all, estimations and evaluations of human-exoskeleton interaction activities. The method described in this practice can be used as a basic method of DHM or as guidance for developing additional and advanced DHM of human-exoskeleton interaction.