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Metrics Group Metric Definitions (Metrics, Setup, Procedures)
Force sensing metrics Force Sensing Accuracy PDF
  Force Sensing Precision  
  Force Sensing Resolution  
  Force Time Drift 1  
  Force Time Drift 2  
  Force Time Drift 3  
  Force Time Drift 4  
Force Control Metrics Force Controller Accuracy PDF
  Force Control Precision  
  Force Control Resolution  
  Force Control Overshoot  
  Force Control Settling Time  
  Material Variation Consistency  
  Impact Stability  
  Control Bandwidth  
  Minimum Applicable Force  
Force Reaction Metrics Contact Sensitivity PDF
  Tactile Contact Sensitivity  
Manual Maneuverability Guiding Force PDF
  Guiding Force Deviation  
  Minimum Motion Force  
  Maneuver Effort  
  Guiding Energy  
Human Safety Metrics Safe Impact Force PDF
  Safe Clamping Force  
Motion Fitness Metrics Pose Accuracy LINK
  Pose Repeatability  
  Path Accuracy  
  Path Repeatability