Benchmarks have long been used to verify and compare the readiness level of different technologies in many application domains. In the field of wearable robots, the lack of a recognized benchmarking methodology is one important impediment that may hamper the efficient translation of research prototypes into actual products. At the same time, an exponentially growing number of research studies are addressing the problem of quantifying the performance of robotic exoskeletons, resulting in a rich and highly heterogeneous picture of methods, variables and protocols. This review aims to organize this information, and identify the most promising performance indicators that can be converted into practical benchmarks. We focus our analysis on lower limb functions, including a wide spectrum of motor skills and performance indicators. We found that, in general, the evaluation of lower limb exoskeletons is still largely focused on straight walking, with poor coverage of most of the basic motor skills that make up the activities of daily life. Our analysis also reveals a clear bias towards generic kinematics and kinetic indicators, in spite of the metrics of human-robot interaction. Based on these results, we identify and discuss a number of promising research directions that may help the community to attain a comprehensive benchmarking methodology for robot-assisted locomotion more efficiently.

中文翻译：

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下肢外骨骼的性能评估：系统评价。

基准长期以来一直用于验证和比较许多应用程序领域中不同技术的就绪程度。在可穿戴机器人领域，缺乏公认的基准测试方法是一个重要的障碍，可能会妨碍将研究原型有效地转换为实际产品。同时，越来越多的研究正在解决量化机器人外骨骼性能的问题，从而产生了丰富，高度异质的方法，变量和协议。此次审查旨在组织这些信息，并确定可以转化为实际基准的最有希望的绩效指标。我们将分析重点放在下肢功能上，包括各种运动技能和性能指标。我们发现 总的来说，下肢外骨骼的评估仍然主要集中在直走上，对构成日常生活活动的大多数基本运动技能的报道不多。我们的分析还显示，尽管存在人机交互的指标，但对通用运动学和动力学指标仍存在明显偏见。基于这些结果，我们确定并讨论了许多有前途的研究方向，这些方向可能有助于社区更有效地获得用于机器人辅助运动的综合基准测试方法。尽管有人机交互的指标。基于这些结果，我们确定并讨论了许多有前途的研究方向，这些方向可能有助于社区更有效地获得用于机器人辅助运动的综合基准测试方法。尽管有人机交互的指标。基于这些结果，我们确定并讨论了许多有前途的研究方向，这些方向可能有助于社区更有效地获得用于机器人辅助运动的综合基准测试方法。