Design of a Behavior-Inspired Two-Pronged Pneumatic End Effector for Strawberry Harvesting


This project proposes a two-pronged end effector design that combines a soft gripper and rotating component to mechanically harvest strawberries of different sizes without damaging the fruit while cleanly removing the stem. The gripping and stem removal efficacy of the device are evaluated. The design is inspired by the twisting motion of a strawberry worker’s hand while picking fruit and provides an alternative solution to existing robotic systems that use rigid materials.

Additional Resources

  • Han, K. S., Kim, S. C., Lee, Y. B., Kim, S. C., Im, D. H., Choi, H. K., & Hwang, H. (2012). Strawberry harvesting robot for bench-type cultivation. Journal of Biosystems Engineering, 37(1), 65-74.
  • Hayashi, S., Shigematsu, K., Yamamoto, S., Kobayashi, K., Kohno, Y., Kamata, J., & Kurita, M. (2010). Evaluation of a strawberry-harvesting robot in a field test. Biosystems Engineering, 105(2), 160-171.
  • Rich, S. I., Wood, R. J., & Majidi, C. (2018). Untethered soft robotics. Nature Electronics, 1, 102-112.

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Meet the Researchers


Qiguang He
Yang Wang
Yifan Xu
Shuai Wu

UC San Diego Graduate Program

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