Title
Towards a test battery to benchmark dexterous performance in teleoperated systems
Author
Catoire, M.
Krom, B.N.
van Erp, J.B.F.
Contributor
Prattichizzo, D. (editor)
Ruffaldi, E. (editor)
Frisoli, A. (editor)
Shinoda, H. (editor)
Tan, H.Z. (editor)
Publication year
2018
Abstract
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 & 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.
Subject
Benchmarking
Dexterity
Haptic
Standards
Teleoperation
Test battery
Electric batteries
Remote control
Repair
Standards
Testing
Benchmark system
Dexterity
Haptic
Inspection , maintenance and repairs
Manual dexterity
Service robots
Tele-operated systems
Test batteries
Benchmarking
To reference this document use:
http://resolver.tudelft.nl/uuid:2084e833-50c2-49bb-ac50-ba5da0ef1f30
DOI
https://doi.org/10.1007/978-3-319-93399-3_38
TNO identifier
810212
Publisher
Springer Verlag
ISBN
9783319933986
ISSN
0302-9743
Source
11th International Conference on Haptics: Science, Technology, and Applications, EuroHaptics 2018. 13 June 2018 through 16 June 2018, 10894 LNCS, 440-451
Article number
1215
Document type
conference paper