Grasping experiments new

Grasping Experiments 

In the study 'Comparison of different technologies for soft robotics grippers' published in Sensors 21.9 (2021): 3253, the authors employed a set of objects, depicted on the right-hand side of a specific figure, to evaluate the efficacy of four distinct soft robotic grippers. These objects varied in weight, spanning a range from 7.9 grams to 229.6 grams. In contrast, our experimental framework utilizes objects with a considerably broader weight range, extending from 8 grams to 1540 grams. This represents an increase by a factor of eight compared to the range used in the referenced study. Consequently, our dataset presents a more challenging and general spectrum for assessing the performance of soft robotic grippers.

In their study, the most efficient gripper, represented by the purple bar, is gripper 4, achieved an 89% success rate in object grasping experiments. In contrast, our gripper, as illustrated in the right-hand side figure, demonstrates variable performance depending on its configurations. Given its three distinct configurations, each optimized for objects of varying sizes, a single mode may exhibit reduced efficacy in handling objects outside its target size range. This specificity results in lower overall success rates for each individual mode. However, when each object is engaged using the optimal configuration, our gripper achieves an overall success rate of 97.5%. This significant improvement underscores the structural effectiveness of our gripper design.