On better pushing for picking a piece of fabric from layers

It is important to handling fabric in automated sewing system. When picking up a piece of fabric from layers, a person makes a crease and pinches one piece. Author proposed making a crease for picking up a piece of fabric and realized that a robot hand with a palm and three fingers picked up a piece of fabric from layers experimentally. Observation of pickup experiment results in that there is some area for easier pickup. This paper describes about what a part of a fabric should be better to push for making a crease easier to pick up one piece of fabric.