Abstract
The aim of this study was to optimize grasped object shape to improve its grasping ease with considering the interaction of multiple shape parameters. The shape parameters used in this study were the upper diameter d_U, lower diameter d_L, ellipticity e, and inclined angle of central axis θ. First, two levels factorial experiment was performed with five male subjects. Multi-way ANOVA was conducted for the measured subjective scores, and the result showed that the main effects of the upper diameter, ellipticity, and inclined angle are statistically significant, and the significance probability of the lower diameter was relatively low. In addition, the interaction of upper diameter and inclined angle and that of ellipticity and inclined angle had significant effects. The four parameters were assigned to the L_<27> orthogonal array, and the subjective scores were measured with six male and six female subjects. The response surface of the grasping ease was approximated, and the optimum shape was determined.
