1.1 This practice covers a split-force measurement apparatus (SFMA), a measurement system that uses split geometries and load cells to quantify the force of a grasp and external forces applied to an object under grasp. The SFMA supports a series of standard performance test methods for grasp-type robot end-effectors. The test methods supported include grasp strength, slip resistance, grasp efficiency, and cycle time.

1.2 Target Audience-End users, integrators, suppliers, and researchers.

1.3 Units-The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard.

1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.

1.5 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.