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
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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.
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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.