A proposal for benchmark tests for underactuated or compliant hands
Why this work is in the frame
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Bibliographic record
Abstract
Abstract. There is a lack of agreement in the literature as to what exactly quantifies the performance of underactuated hands. This paper proposes two benchmark tests to measure the ability of underactuated hands to grasp different objects and the ability to hold the objects when force disturbances apply. The first test determines the smallest and largest cylindrical object which can be successfully grasped in an enveloping grasp or in a pinch grasp. The second test provides the maximal allowable force which can be applied to a grasped object without loosing it. A setup was constructed consisting of standard components. Exemplary tests were applied to the Delft Hand 2. The proposed benchmark tests are representative to quantify the performance of pick and place operations with underactuated hands. The results of the tests can be applied to evaluate, compare, and improve the performance of robotic hands. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it