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. Author manuscript; available in PMC: 2013 Jan 16.
Published in final edited form as: IEEE Trans Robot. 2012 May 22;28(4):958–966. doi: 10.1109/TRO.2012.2196189

TABLE IV.

Expected (From Linear Regression on Monte Carlo Iterations) and Actual (From Computational Method Implementation) Effects of Moment Arm Adjustments by 10% on Grasp Quality of N + 1 Design. Two-Finger Grasp

Grasp Quality Normalized Coefficient Expected Increase Actual Increase
Baseline 1.709 – – –
Moment arm 1,1 (+10%) 1.880 1.01 10.1% 10.0%
Moment arm 1,5 (-10%) 1.812 -0.593 5.93% 6.03%
Moment arm 2,5 (+10%) 1.809 0.553 5.53% 5.88%
Moment arm 2,4 (+10%) 1.756 0.272 2.72% 2.79%
Moment arm 1,4 (-10%) 1.758 -0.259 2.59% 2.86%
Moment arm 2,3 (+10%) 1.733 0.159 1.59% 1.40%
Moment arm 1,3 (-10%) 1.734 -0.143 1.43% 1.47%

Moment arms expressed as (Joint number, tendon number).