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Damage Quantification and Textured Contacting Surfaces of Soft Actuators for Strawberry Handling

Overview



This project investigates the interaction between strawberries and soft grippers to determine at what pressure the fruit becomes damaged. Various combinations of gripper material and textures are characterized using a force plate and flexible force sensor. This project serves to fill the knowledge gap in soft material grippers and strawberry-based interaction for the future development of strawberry harvesting automation.



Additional Resources


  • Glick, P., Suresh, S. A., Ruffatto, D., Cutkosky, M., Tolley, M. T., & Parness, A. (2018). A soft robotic gripper with gecko-inspired adhesive. IEEE Robotics and Automation Letters, 3(2), 903-910.
  • Guo, M., Gealy, D. V., Liang, J., Mahler, J., Goncalves, A., McKinley, S., Ojea, J. A., & Goldberg. K. (2017). Design of parallel-jaw gripper tip surfaces for robust grasping. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2831-2838.

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Meet the Researchers

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Seth Dike
Bo Xiao
Yangting Sun
Sayan Mondal

UC San Diego Graduate Program

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