Development of an Automatic Dispensing System for Traditional Chinese Herbs

Figure 11

Estimation of grasping amount—Chinese Angelica. (a) Grasping with claws of various width (from 40 mm to 115 mm/per 15 mm). (b) Grasp estimates obtained using linear interpolation using the data in (a). (c) Grasp estimates obtained using LSR curve fitting with the data in (a). (d) Grasp estimates obtained based on LSR curve fitting after refinement (three iterations).

(a)

(b)

(c) y = 2.993x + 40.335

(d) y = 3.354x + 36.618