Global berry production and consumption have significantly increased in recent years, coinciding with increased consumer awareness of the health-promoting benefits of berries. Among them, fresh market blackberries and raspberries are primarily harvested by hand to maintain post-harvest quality. However, fresh market berry harvesting is an arduous, costly endeavor that accounts for up to 50% of the worker hours. Additionally, the inconsistent forces applied during handharvesting can result in an 85% loss of marketable berries due to red drupelet reversion (RDR). Herein, we present a novel, tendondriven soft robotic gripper with active contact force feedback control, which leverages the passive compliance of the gripper for the gentle harvesting of blackberries. The versatile gripper was able to apply a desired force as low as 0.5 N with a mean error of 0.046 N, while also holding payloads that produce forces as high as 18 N. Field test results indicate that the gripper is capable of harvesting berries with minimal berry damage, while maintaining a harvesting reliability of 95% and a harvesting rate of approximately 4.8 seconds per berry.

While global patterns of human genetic diversity are increasingly well characterized, the diversity of human languages remains less systematically described. Here, we outline the Grambank database. With over 400,000 data points and 2400 languages, Grambank is the largest comparative grammatical database available. The comprehensiveness of Grambank allows us to quantify the relative effects of genealogical inheritance and geographic proximity on the structural diversity of the world’s languages, evaluate constraints on linguistic diversity, and identify the world’s most unusual languages. An analysis of the consequences of language loss reveals that the reduction in diversity will be strikingly uneven across the major linguistic regions of the world. Without sustained efforts to document and revitalize endangered languages, our linguistic window into human history, cognition, and culture will be seriously fragmented.

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