Force Sensor-Based Picking Pattern Analysis and Two-Jaw Gripper Design for Cherry Tomato Robotic Harvesting in Greenhouse

Summary

Researchers developed a force-data-driven robotic harvesting system for cherry tomatoes, integrating six-axis force/torque sensing, a bio-inspired compliant gripper, and a mobile robotic platform. Manual trials informed the design of a novel Finray gripper and a hybrid grip-twist-pull strategy, applying specific forces and torques to detach the fruit gently. Validated at a commercial greenhouse in Abu Dhabi, UAE, the system achieved an 86.0% picking success rate with only 2.3% fruit damage and an 8.4-second cycle time per fruit. Why it matters: This development demonstrates a practical and efficient solution for delicate robotic harvesting in controlled agricultural environments, with direct relevance to food security initiatives in the Middle East.