Towards a Test Battery to Benchmark Dexterous Performance in Teleoperated Systems

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    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.
    Original languageEnglish
    Title of host publicationHaptics: Science, Technology, and Applications
    Subtitle of host publication11th International Conference, EuroHaptics 2018, Pisa, Italy, June 13-16, 2018, Proceedings, Part II
    EditorsDomenicaq Prattichizzo, Hiroyuki Shinoda, Hong Z. Tan, Emanuele Ruffaldi, Antonio Frisoli
    PublisherSpringer
    Pages440-451
    Number of pages12
    ISBN (Electronic)978-3-319-93399-3
    ISBN (Print)978-3-319-93398-6
    DOIs
    Publication statusPublished - 1 Jan 2018
    EventEurohaptics 2018 - Pisa, Italy
    Duration: 13 Jun 201816 Jun 2018
    http://eurohaptics2018.org/

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume10894 LNCS
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349

    Conference

    ConferenceEurohaptics 2018
    CountryItaly
    CityPisa
    Period13/06/1816/06/18
    Internet address

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    Keywords

    • Haptic
    • Benchmarking
    • Test battery
    • Dexterity
    • Teleoperation
    • Standards

    Cite this

    Catoire, M., Krom, B. N., & van Erp, J. B. F. (2018). Towards a Test Battery to Benchmark Dexterous Performance in Teleoperated Systems. In D. Prattichizzo, H. Shinoda, H. Z. Tan, E. Ruffaldi, & A. Frisoli (Eds.), Haptics: Science, Technology, and Applications: 11th International Conference, EuroHaptics 2018, Pisa, Italy, June 13-16, 2018, Proceedings, Part II (pp. 440-451). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10894 LNCS). Springer. https://doi.org/10.1007/978-3-319-93399-3_38