Human evaluation of robotic grippers for berry picking

Laura Alvarez-Hidalgo; Ian S. Howard

Human evaluation of robotic grippers for berry picking

Laura Alvarez-Hidalgo^*
, Ian S. Howard

^*Corresponding author for this work

School of Engineering, Computing and Mathematics

Research output: Working paper / Preprint › Preprint

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Abstract

We describe the construction and evaluation of two robotic grippers for berry picking. Using a pneumatic cylinder drive, one was constructed from hard materials and the other from soft materials. A novel evaluation paradigm using a handle mechanism was developed, so the grippers could be directly op-erated by human participants. An artificial bush was also constructed and used for evaluation purposes. Overall, both grippers performed worse than the human hand, indicating that further development is needed.

Original language	Undefined/Unknown
Publication status	Published - 8 Sept 2023

Keywords

cs.RO
J.2

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2401.03362v1Final published version, 422 KB

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title = "Human evaluation of robotic grippers for berry picking",

abstract = " We describe the construction and evaluation of two robotic grippers for berry picking. Using a pneumatic cylinder drive, one was constructed from hard materials and the other from soft materials. A novel evaluation paradigm using a handle mechanism was developed, so the grippers could be directly op-erated by human participants. An artificial bush was also constructed and used for evaluation purposes. Overall, both grippers performed worse than the human hand, indicating that further development is needed. ",

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author = "Laura Alvarez-Hidalgo and Howard, \{Ian S.\}",

note = "4 pages, 8 figures, abstract presented at TAROS2023",

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T1 - Human evaluation of robotic grippers for berry picking

AU - Alvarez-Hidalgo, Laura

AU - Howard, Ian S.

N1 - 4 pages, 8 figures, abstract presented at TAROS2023

PY - 2023/9/8

Y1 - 2023/9/8

N2 - We describe the construction and evaluation of two robotic grippers for berry picking. Using a pneumatic cylinder drive, one was constructed from hard materials and the other from soft materials. A novel evaluation paradigm using a handle mechanism was developed, so the grippers could be directly op-erated by human participants. An artificial bush was also constructed and used for evaluation purposes. Overall, both grippers performed worse than the human hand, indicating that further development is needed.

AB - We describe the construction and evaluation of two robotic grippers for berry picking. Using a pneumatic cylinder drive, one was constructed from hard materials and the other from soft materials. A novel evaluation paradigm using a handle mechanism was developed, so the grippers could be directly op-erated by human participants. An artificial bush was also constructed and used for evaluation purposes. Overall, both grippers performed worse than the human hand, indicating that further development is needed.

KW - cs.RO

KW - J.2

UR - https://pearl.plymouth.ac.uk/secam-research/1423/

M3 - Preprint

BT - Human evaluation of robotic grippers for berry picking

ER -

Human evaluation of robotic grippers for berry picking

Abstract

Keywords

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Human Evaluation of Robotic Grippers for Berry Picking

Cite this