Human evaluation of robotic grippers for berry picking

Laura Alvarez-Hidalgo; Ian S. Howard

Human evaluation of robotic grippers for berry picking

Robotics 2024-01-09 v1

Authors: Laura Alvarez-Hidalgo , Ian S. Howard

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.

Keywords

robotic grippers berry picking human evaluation soft robotics pneumatic cylinder agricultural robotics

Cite

@article{arxiv.2401.03362,
  title  = {Human evaluation of robotic grippers for berry picking},
  author = {Laura Alvarez-Hidalgo and Ian S. Howard},
  journal= {arXiv preprint arXiv:2401.03362},
  year   = {2024}
}

Comments

4 pages, 8 figures, abstract presented at TAROS2023

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