TABLE 2.
Physical properties of the food items used in the handling tests. The size is described as Length x Width x Height; the maximum value of each dimension is provided. Softness and slipperiness were qualitatively rated by star marks with five stars indicating the strongest properties. Bold letters of A, B, C, ... correspond to the food item labels in Figure 9.
| Food | Size [mm] | Weight [g] | Softness | Slipperiness |
|---|---|---|---|---|
| Daifuku (A) | 69 x 67 x 30 | 99.1 | *** | *** |
| Fried shrimp (B) | 70 x 25 x 25 | 16.9 | ** | *** |
| Ganmodoki (C) | 52 x 37 x 17 | 19.6 | *** | *** |
| Potato tempura (D) | 64 x 48 x 10 | 28.1 | ** | *** |
| Croquette (E) | 65 x 47 x 20 | 40.7 | *** | *** |
| Tomato (F) | 73 x 70 x 65 | 188.7 | * | ** |
| Boiled fish cake (G) | 80 x 55 x 18 | 36.5 | *** | **** |
| Sweet bean jelly (H) | 50 x 37 x 16 | 35.2 | *** | ** |
| Rolled omelet (I) | 47 x 29 x 23 | 25.7 | **** | **** |
| Green pepper (J) | 70 x 43 x 42 | 28.2 | * | ** |
| Steamed fish cake (K) | 49 x 47 x 19 | 33.9 | *** | **** |
| Cheese (L) | 55 x 50 x 31 | 99.0 | *** | ** |
| Octopus leg (M) | 88 x 39 x 23 | 55.7 | * | **** |
| Raw shrimp (N) | 69 x 50 x 16 | 14.5 | * | ***** |
| Carangidae fish (O) | 52 x 30 x 17 | 15.5 | * | ***** |
| Quail egg (P) | 29 x 26 x 25 | 9.5 | *** | **** |
| Tofu (Q) | 54 x 50 x 34 | 150.8 | **** | ***** |
| Meat (R) | 47 x 44 x 31 | 55.3 | *** | **** |
| Raw oyster (S) | 55 x 26 x 15 | 10.2 | ***** | ***** |
| Pollock roe (T) | 55 x 26 x 18 | 23.5 | ***** | **** |