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• W2912294303 abstract "In this paper, we present a logistic regression analysis approach to quantitatively investigate the effect of fruit characteristics, hand dimensions and interaction parameters between fruit and fingers such as static friction coefficient on the probability of stable thumb–index finger power-grasp during manual sorting. The logistic regression results of the study demonstrated that the obtained logistic regression model can predict the probability of stable thumb–index finger power-grasp reasonably. The minimum curvature radius of the fruit equatorial contour line exhibited the strongest association with the probability of stable thumb–index finger power-grasp, followed by the major diameter, minor diameter, thumb circumference, index finger circumference, fingertip span and fruit mass. The minimum curvature radius, minor diameter and fruit mass were negative determinants of the probability of stable thumb–index finger power-grasp. An increase by 1 mm in the minimum curvature radius keeping the other variables constant decreased the probability of stable thumb–index finger power-grasp by 32.3%, whereas a similar increase in the minor diameter decreased the probability by 19.4%. Similar increases in the thumb circumference, index finger circumference and fingertip span increased the probability by 13.8%, 12.6% and 8.2%, respectively. The static friction coefficients between apple skin and finger, mango skin and finger and melon skin and finger ranged from 0.68 to 0.77, 0.38 to 0.44 and 0.43 to 0.44, respectively. This logistic regression model would provide quantitative technical guidelines for defining a reasonable geometric size for two-finger power-grasp end-effector of fruit sorting robot during ergonomic design, and for assessing power-grasp stability of robotic two-finger end-effectors; this probabilistic model would also be used to develop learning-based robotic grasping planning strategies for robotic fruit sorting." @default.
• W2912294303 created "2019-02-21" @default.
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• W2912294303 date "2019-02-01" @default.
• W2912294303 modified "2023-10-14" @default.
• W2912294303 title "Effect of fruit and hand characteristics on thumb–index finger power-grasp stability during manual fruit sorting" @default.
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• W2912294303 doi "https://doi.org/10.1016/j.compag.2019.01.032" @default.
• W2912294303 hasPublicationYear "2019" @default.
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