Tendon-Driven Soft Robotic Gripper for Berry Harvesting

Gunderman, Anthony L.; Collins, Jeremy; Myer, Andrea; Threlfall, Renee T.; Chen, Yue

doi:10.48550/arxiv.2103.04270

Cited by 4 publications

(4 citation statements)

References 5 publications

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“…Different blackberry cultivars mature at different times, from May to July, and harvest duration varies from 4 to 14 days. Blackberries for the fresh fruit market are primarily harvested by hand to maintain postharvest quality, although there has been some research on tendon-driven soft robotic gripper for the harvesting of blackberries [ 13 ]. The blackberry picking period influences its quality, as the correct picking period can result in high-quality blackberry fruit.…”

Section: Introductionmentioning

confidence: 99%

Composition and Antioxidant Activity of Anthocyanins and Non-Anthocyanin Flavonoids in Blackberry from Different Growth Stages

Shi

Shen

et al. 2022

Foods

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The high nutritional value and unique flavor of blackberries make them a popular food choice among consumers. Anthocyanin content (AC) and non-anthocyanin flavonoid content (NAFC) are important functional components in blackberry. We tested the AC, NAFC, and antioxidant activities of two blackberry—Ningzhi 1 and Hull—during the following ripening stages: green-fruit stage (GFS), color-turning stage (CTS), reddening stage (RDS), and ripening stage (RPS). The results showed that NAFC decreased and AC increased gradually during the ripening stages. The NAFC of Hull blackberry was the highest during GFS (889.74 μg/g), while the AC of Ningzhi 1 blackberry was the highest during RPS (1027.08 μg/g). NAFC was the highest at the initial stage and gradually decreased with ripening. Anthocyanin accumulation mainly occurred during the later ripening stages. These results provide a reference for comparing the NAFC, AC, and antioxidant activity of Ningzhi 1 and Hull and their changes during different ripening stages.

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Section: Introductionmentioning

confidence: 99%

Composition and Antioxidant Activity of Anthocyanins and Non-Anthocyanin Flavonoids in Blackberry from Different Growth Stages

Shi

Shen

et al. 2022

Foods

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show abstract

“…For example, removal of the gripped fruit can be carried out by tearing off the pre-twisted stalk of the fruit. For this purpose, a four-fingered gripper, which imitates a human hand, grasps the fruit on all sides and tears it off by rotating around its axis [5,10]. However, the best results in terms of time are shown by the vacuum device, which sucks the fetus into the flexible sleeve almost instantly.…”

Section: Methodsmentioning

confidence: 99%

“…Kang et al [8] presented a robotic vision system to perform fruit recognition and environment modeling for autonomous apple harvesting. Several studies devoted to research on a modifiable development platform for robotic fruit harvesting are presented; this can be used to test specific design choices on different fruit and growing conditions [9,10].…”

Section: Introductionmentioning

confidence: 99%

Robotic Complex for Harvesting Apple Crops

et al. 2022

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The article deals with the concept of building an automated system for the harvesting of apple crops. This system is a robotic complex mounted on a tractor cart, including an industrial robot and a packaging system with a container for fruit collection. The robot is equipped with a vacuum gripper and a vision system. A generator for power supply, a vacuum pump for the gripper and an equipment control system are also installed on the cart. The developed automated system will have a high degree of reliability that meets the requirements of operation in the field.

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“…There was a tendondriven soft robotic gripper with active contact force feedback. [233] It was able to apply a desired force as low as 0.5 N with a mean error of 0.046 N for the gentle harvesting of blackberries. Researchers designed a soft gripper shaped like a "granary" (Figure 12b), [218] which can grasp objects of various contours in the form of kneading, wrapping, and cage.…”

Section: Agriculturementioning

confidence: 99%

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Qu,

Mao,

et al. 2023

Adv Funct Materials

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Tactile sensing technology is crucial for soft grippers. Soft grippers equipped with intelligent tactile sensing systems based on various sensors can interact safely with the unstructured environments and obtain precise properties of objects (e.g., size and shape). It is essential to develop state‐of‐the‐art sensing technologies for soft grippers to handle different grasping tasks. In this review, the development of tactile sensing techniques for robotic hands is first introduced. Then, the principles and structures of different types of sensors normally adopted in soft grippers, including capacitive tactile sensors, piezoresistive tactile sensors, piezoelectric tactile sensors, fiber Bragg grating (FBG) sensors, vision‐based tactile sensors, triboelectric tactile sensors, and other advanced sensors developed recently are briefly presented. Furthermore, sensing modalities and methodologies for soft grippers are also described in aspects of force measurement, perception of object properties, slip detection, and fusion of perception. The application scenarios of soft grippers are also summarized based on these advanced sensing technologies. Finally, the challenges of tactile sensing technologies for soft grippers that need to be tackled are discussed and perspectives in addressing these challenges are pointed out.

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Tendon-Driven Soft Robotic Gripper for Berry Harvesting

Cited by 4 publications

References 5 publications

Composition and Antioxidant Activity of Anthocyanins and Non-Anthocyanin Flavonoids in Blackberry from Different Growth Stages

Composition and Antioxidant Activity of Anthocyanins and Non-Anthocyanin Flavonoids in Blackberry from Different Growth Stages

Robotic Complex for Harvesting Apple Crops

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

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