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  1. ; (, https://www.ais.uni-bonn.de/IROS2024AvatarWS/)
    Behnke, Sven; Ryu, Jee-Hwan; Pucci, Daniele; Santos, Veronica J (Ed.)
    We present a new upper-limb anthropomorphic dexterous telemanipulation system, the Dexterity Testbed Nexus(DexNex). DexNex is teleoperated by a human user in theOperator Station who controls the Avatar Station to complete temanipulation tasks. The Avatar replicates the upper limbs of a human and is statically mounted to the workspace. Three benchmarking tasks were used: box & blocks, the MinnesotaTurning Test revised form (MTTrf), and a table setting task.Subjects completed the tasks with their natural bodies to provide normative data. Subjects then attempted the same tasks with haptic feedback enabled or disabled. The utility of haptics was computed for four metrics. Haptic feedback improved performance for three of the four metrics (26% increase in Box& Blocks score, 12% increased Table Setting success rate, and 1.3x faster time per success in Table Setting). 
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