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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Barreca, S.R., Stratford, P.W., Lambert, C.L., Masters, L.M., Streiner, D.L.: Test-retest reliability, validity, and sensitivity of the chedoke arm and hand activity inventory: a new measure of upper-limb function for survivors of stroke. Arch. Phys. Med. Rehabil. 86(8), 1616–1622 (2005)
Bicchi, A.: Hands for dexterous manipulation and powerful grasping: a difficult road toward simplicity. IEEE Trans. Robot. Autom. 16(6), 2–15 (2000)
Bullock, I.M., Ma, R.R., Dollar, A.M.: A hand-centric classification of human and robot dexterous manipulation. IEEE Trans. Haptics 6(2), 129–144 (2013)
Cutkosky, M.R.: On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Trans. Robot. Autom. 5(3), 269–279 (1989)
De Dieuleveult, A.L., Siemonsma, P.C., Van Erp, J.B.F., Brouwer, A.-M.: Multisensory integration: a systematic review on age related changes and activities of daily life. Front. Aging Neurosci. (2017). https://doi.org/10.3389/fnagi.2017.00080
Gosselin, C.M.: Dexterity indices for planar and spatial robotic manipulators. In: IEEE International Conference on Robotics and Automation (1990)
ISO, NEN-EN-ISO 9283 (1998)
Li, Z., Canny, J.F., Sastry, S.: On motion planning for dexterous manipulation. I. The problem formulation. In: IEEE International Conference on Robotics and Automation (1989)
Ma, R.R., Dollar, A.M.: On dexterity and dexterous manipulation. In: The 15th International Conference on Advanced Robotics, Tallinn (2011)
Makofske, B.: Manual dexterity. In: Kreutzer, J.S., DeLuca, J., Caplan, B. (eds.) Encyclopedia of Clinical Neuropsychology, pp. 1522–1523. Springer, New York (2011). https://doi.org/10.1007/978-0-387-79948-3_1460
Mathiowetz, V., Volland, G., Kashman, N., Weber, K.: Adult norms for the box and block test of manual dexterity. Am. J. Occup. Ther. 39(6), 387–391 (1985a)
Mathiowetz, V., Weber, K., Kashman, N., Volland, G.: Adult norms for the nine hole peg test of finger dexterity. Occup. Ther. J. Res. 5(1), 24–38 (1985b)
Messina, E., Huang, H.-M., Virts, A., Downs, A., Norcross, R., Sheh, R., Jacoff, A.: Standard Test Methods For Response Robots: Guide for Evaluating, Purchasing, and Training with Response Robots Using DHS-NIST-ASTM International Standard Test Methods (2009)
Okamura, A., Smaby, N., Cutkosky, M.: An overview of dexterous manipulation. In: IEEE International Conference on Robotics and Automation (2000)
Ruehl, S.W., Parlitz, C., Heppner, G., Hermann, A., Roennau, A., Dillmann, R.: Experimental evaluation of the schunk 5-finger gripping hand for grasping tasks. In: IEEE International Conference on Robotics and Biomimetics, pp. 2465–2470, December 2014
Smith, C., Karayiannidis, Y., Nalpantidis, L., Gratal, X., Qi, P., Dimarogonas, D.V., Kragic, D.: Dual arm manipulation - a survey. Robot. Autonom. Syst. 60(10), 1340–1353 (2012)
SPARC: Robotics 2020 Multi-Annual Roadmap For Robotics in Europe (2017)
Surrey, L.R., Nelson, K., Delelio, C., Mathie-Majors, D., Omel-Edwards, N., Shumaker, J., Thurber, G.: A Comparison of Performance Outcomes Between the Minnesota Rate of Manipulation Test and the Minnesota Manual Dexterity Test. Work (Reading, Mass.), vol. 20, no. 2, pp. 97–102 (2003)
Tiffin, J., Asher, E.J.: The purdue pegboard: norms and studies of reliability and validity. J. Appl. Psychol. 32(3), 234–247 (1948)
van Erp, J.B.F., Kern, T.A.: ISO’s work on guidance for haptic and tactile interactions. In: Ferre, M. (ed.) EuroHaptics 2008. LNCS, vol. 5024, pp. 936–940. Springer, Heidelberg (2008). https://doi.org/10.1007/978-3-540-69057-3_118
Van Erp, J.B.F., Duistermaat, M., Jansen, C., Groen, E., Hoedemaeker, M.: Tele presence: bringing the operator back in the loop. In: NATO RTO Workshop on Virtual Media for Military Applications (2006)
Wolf, S.L., Catlin, P.A., Ellis, M., Archer, A.L., Morgan, B., Piacentino, A.: Assessing wolf motor function test as outcome measure for research in patients after stroke. Stroke 32(7), 1635–1639 (2001)
Yancosek, K.E., Howell, D.: A narrative review of dexterity assessments. J. Hand Ther. 22(3), 258–270 (2009)
Yozbatiran, N., Der-Yeghiaian, L., Cramer, S.C.: A standardized approach to performing the action research arm test. Neurorehabil. Neural Repair 22(1), 78–90 (2008)
Acknowledgements
We would like to thank our colleague Wietse van Dijk (TNO) for preparing Fig. 1.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Catoire, M., Krom, B.N., van Erp, J.B.F. (2018). Towards a Test Battery to Benchmark Dexterous Performance in Teleoperated Systems. In: Prattichizzo, D., Shinoda, H., Tan, H., Ruffaldi, E., Frisoli, A. (eds) Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science(), vol 10894. Springer, Cham. https://doi.org/10.1007/978-3-319-93399-3_38
Download citation
DOI: https://doi.org/10.1007/978-3-319-93399-3_38
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-93398-6
Online ISBN: 978-3-319-93399-3
eBook Packages: Computer ScienceComputer Science (R0)