Data of paper "A Grip Force Planning Method for Reliable and Rapid Fruit Grasping Based on Rupture Force Estimation"

In the related paper, we proposed an online estimation method of fruit rupture force based on stiffness perception. This dataset includes the training data and the online validation data, based on which we got and validated the relationship between the rupture forces and the stiffness of banana slices and kiwi slices.

This dataset consists of two folders: banana and kiwi, standing for the data of bananas and kiwis, respectively. Each folder includes two sub folders training set and validation set. The training set includes the data for training the relationship between rupture force and stiffness. In this folder, the data are stored with an python script train_model.py, which is used to get the linear relation proposed in the paper. The validation set includes the the data for validation the online estimation performance. In this folder, the data are stored with an python script break_force_est_offline.py, which is to simulate the online estimation process and output the final estimation of rupture force based on the collected data.

The data in the dataset are collected in the way mentioned in the paper.