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A Benchmark Set of Domestic Objects for Service Robot Manipulation

The following everyday, household objects are ranked based on interviews with 15 ALS patients from the Emory ALS Center. We asked the participants to provide relative importance of retrieval of each object by a robot. Although the objects list was validated by population of ALS patients and focused on object retrieval, we hope the object lists provide a common set of practical objects for evaluating wider manipulation and grasp strategies.

rank image orientation name procurement
  -
TV Remote
Amazon.com
  -
Medicine Pill
See #3 (Medicine Bottle)
  -
Medicine Bottle
Amazon.com
  -
Glasses
Amazon.com
  -
Cordless Phone
Amazon.com
  -
Toothbrush
Local Convenience Store
  -
Fork
Plastic

Metal, Amazon.com

  -
Spoon
See #7 (fork)
  -
Disposable Bottle
Amazon.com
  -
Toothpaste
Local Convenient Store
 
-
Cup / Mug
Plastic

Ceramic, Amazon.com

  -
Dish Plate
Amazon.com
  -
Bowl
Amazon.com
  -
Soap
Local Convenient Store
  -
Cell Phone
Amazon.com
  -
Hand Towel
Amazon.com
  -
Book
Amazon.com
  -
Bill
N/A
  -
Mail
Amazon.com
  -
Straw
Amazon.com
  -
Keys
Amazon.com
  -
Table Knife
See #7 (fork)
  -
Shoe / Sandal
Amazon.com
  -
Pen / Pencil
Amazon.com
  -
Medicine Box
Amazon.com
  -
Plastic Container
Amazon.com
  -
Credit Card
Local Convenience Store
  -
Coin
Local Convenience Store
  -
Small Pillow
Amazon.com
  -
Pants
Amazon.com
  -
Shirt
Amazon.com
  -
Hairbrush
Amazon.com
  -
Non-Disposable Bottle
Amazon.com
  -
Walking Cane
Amazon.com
  -
Socks
Amazon.com
  -
Wallet
Amazon.com
  -
Magazine
Local Convenience Store
  -
Can
Local Convenience Store
  -
Scissors
Amazon.com
  -
Newspaper
Local Convenience Store
  -
Wrist Watch
Amazon.com
  -
Purse
Amazon.com
  -
Lighter
Amazon.com

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