A Bicchi

AL Dieuleveult De

Bri Makofske

C Smith

IM Bullock

JBF Erp van

Joseph Tiffin

KE Yancosek

MR Cutkosky

N Yozbatiran

SL Wolf

SR Barreca

V Mathiowetz

English

Milène Catoire

Bouke N. Krom

Jan B. F. van Erp

Crossref

Towards a Test Battery to Benchmark Dexterous Performance in Teleoperated Systems

A high level of dexterity is becoming increasingly important for teleoperated inspection, maintenance and repair robots. A standard test to benchmark system dexterity can advance the design, quantify possible improvements, and increase the effectiveness of such systems. Because of the wide variety of tasks and application domains ranging from dismantling explosives from a safe distance to maintenance of deep sea oil rigs, we defined a library of basic, generic tasks and selected five tests that reflect these basic tasks and for which benchmark data already exist or are easy to gather: the Box &amp; Block test, the Purdue Pegboard test, the Minnesota Manual Dexterity test, the ISO 9382 trajectory test (based on the ISO 9382:1998 standard) and the adapted version of the screwing subtest of the IROS 2017 service robots challenge

Catoire, M.

Krom, B.N.

van Erp, Johannes Bernardus Fransiscus

University of Twente Research Information

https://ris.utwente.nl/ws/files/87606333/Erp_Catoire2018_Chapter_TowardsATestBatteryToBenchmark.pdf

Towards a Test Battery to Benchmark Dexterous Performance in Teleoperated Systems

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University of Twente Research Information