ISO 18646-6-2026

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Robotics—Performance criteria

and related test methods for service

robots —

Part 6:

Lower-limb wearable robots

Robots et composants robotiques— Critères de performance et

méthodes d'essai correspondantes pour robots de service —

Partie 6:Robot portable pour les membres inférieurs

Reference number

ISO 18646-6:2026(en)

International

Standard

ISO 18646-6

First edition

2026-05

◎ISO 2026

iii

ISO 18646-6:2026(en)

Contents Page

Foreword

....................................................................................................................................................... iv

1 Scope .................................................................................................................................................. 1

2 Normative references....................................................................................................................... 1

3 Terms and definitions...................................................................................................................... 1

4 Test conditions................................................................................................................................... 2

4.1 Genera..................................................................................................................................................2

4.2 Wearable robot conditions..................................................................................................................2

4.3 Environmental conditions.................................................................................................................3

4.4 Operating conditions ......................................................................................................................... 3

5 Test device ......................................................................................................................................... 3

5.1 ATDR configuration requiremens..................................................................................................... 3

5.2 ATDRsize..............................................................................................................................................4

5.3 ATDR signal measurement conditions ............................................................................................. 6

5.4 Safety considerations for the test setup...........................................................................................6

6 Preparation for the tes....................................................................................................................... 6

6.1 Reference trajectory for ATDR walking..............................................................................................6

6.1.1 Configuration ofthe ATDR reference trajectory.................................................................. 6

6.1.2 Design of ATDR walking reference trajectory.....................................................................7

6.2 ATDR half squat reference trajectory................................................................................................. 8

6.2.1 Configuration ofthe ATDR reference trajectory...................................................................8

6.2.2 Design of ATDR half squat reference trajectory................................................................... 9

6.3 ATDR control performance requirements.......................................................................................10

6.4 Wearable robot performance evaluation inde.............................................................................. 11

6.5 Ground reaction condition.............................................................................................................. 13

7Test methods for walking tes................................................................................................................... 13

7.1 Genera............................................................................................................................................... 13

7.2 Test device....................................................................................................................................... 13

7.3 Test procedure................................................................................................................................... 14

7.3.1 Test principle ....................................................................................................................... 14

7.3.2 No-load walking test ........................................................................................................... 16

7.3.3 Loaded walking test ..............................................................................................................18

8Test methods for half squat test ...............................................................................................................18

8.1 Genera............................................................................................................................................... 18

8.2 Test device.......................................................................................................................................... 18

8.3 Test procedure................................................................................................................................... 19

8.3.1 Test principle ....................................................................................................................... 19

8.3.2 No-load half squat test ....................................................................................................... 20

8.3.3 Loaded half squat tes........................................................................................................... 21

9 Test repor.......................................................................................................................................... 21

Bibliography............................................................................................................................................... 24

ISO 18646-6:2026(en)

Foreword

ISO (the International Organization for Standardization)is a worldwide federation of national standards

bodies (ISO member bodies).The work of preparing International Standards is normally carried out through

ISO technical committees.Each member body interested in a subject for which a technical committee

has been established has the right to be represented on that committee.International organizations,

governmental and non-governmental,in liaison with ISO,also take partin the work.ISO collaborates closely

with the International Electrotechnical Commission(IEC)onall matters of electrotechnical standardization.

The procedures used to develop this document and those intended for its further maintenance are described

in the ISO/IEC Directives,Part 1.In particular,the different approval criteria needed for the different types

of ISO document should be noted.This document was drafted in accordance with the editorial rules of the

ISO/IEC Directives,Part 2(see www.iso.org/directives ).

ISO draws attention to the possibility that the implementation of this document may involve the use of (a)

patent(s).ISO takes no position concerning the evidence,validity or applicability of any claimed patent

rights in respect thereof.As of the date of publication of this document,ISO had received notice of (a)

patent(s)which may be required to implement this document.However,implementers are cautioned that

this may not represent the latest information,which may be obtained from the patent database available at

www.iso.org/patents .ISO shall not be held responsible for identifying any or all such patent rights.

Any trade name used in this document is information given for the convenience of users and does not

constitute an endorsement.

For an explanation of the voluntary nature of standards,the meaning of ISO specific terms and expressions

related to conformity assessment, as well as information about ISO's adherence to the World Trade

Organization(WTO)principles in the Technical Barriers to Trade(TBT),see www.iso.org/iso/foreword.html .

This document was prepared by Technical Committee ISO/TC 299,Robotics.

A list ofall parts in the ISO 18646 series can be found on the ISO website.

Any feedback or questions on this document should be directed to the user's national standards body.A

complete listing of these bodies can be found at www.iso.org/members.html .

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标签： #ISO #2026

摘要：

Robotics—Performancecriteriaandrelatedtestmethodsforservicerobots—Part6:Lower-limbwearablerobotsRobotsetcomposantsrobotiques—Critèresdeperformanceetméthodesd'essaicorrespondantespourrobotsdeservice—Partie6:RobotportablepourlesmembresinférieursReferencenumberISO18646-6:2026(en)InternationalStandardIS...

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