A novel end-effector for a fruit and vegetable harvesting robot: mechanism and field experiment

Park, Yonghyun; Seol, Jaehwi; Pak, Jeonghyeon; Jo, Yuseung; Jun, Jongpyo; Son, Hyoung Il

doi:10.1007/s11119-022-09981-5

Cited by 7 publications

(5 citation statements)

References 37 publications

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“…Suction cups are also a simple and practical type of soft end-effector. For instance, Park et al employed a combination of blades, suction cups, and bagging for harvesting tomatoes [ 88 ]. Additionally, considering the significant variation in size and shape of agricultural products, Edurdo et al designed a modular and deformable soft gripper to handle objects of different sizes and shapes [ 89 ].…”

Section: Soft End-effectormentioning

confidence: 99%

“…ging for harvesting tomatoes [88]. Additionally, considering the significant variation in size and shape of agricultural products, Edurdo et al designed a modular and deformable soft gripper to handle objects of different sizes and shapes [89].…”

Section: Electrically Driven Actuatormentioning

confidence: 99%

“…Strawberry [115], tomato [88], Lemon [116], pomegranate, Melon [89], Plum [85], cherry, apple [87,117,118],…”

mentioning

confidence: 99%

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Perceptual Soft End-Effectors for Future Unmanned Agriculture

Ye,

Zhao,

Luo

et al. 2023

Sensors

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As consumers demand ever-higher quality standards for agricultural products, the inspection of such goods has become an integral component of the agricultural production process. Unfortunately, traditional testing methods necessitate the deployment of numerous bulky machines and cannot accurately determine the quality of produce prior to harvest. In recent years, with the advancement of soft robot technology, stretchable electronic technology, and material science, integrating flexible plant wearable sensors on soft end-effectors has been considered an attractive solution to these problems. This paper critically reviews soft end-effectors, selecting the appropriate drive mode according to the challenges and application scenarios in agriculture: electrically driven, fluid power, and smart material actuators. In addition, a presentation of various sensors installed on soft end-effectors specifically designed for agricultural applications is provided. These sensors include strain, temperature, humidity, and chemical sensors. Lastly, an in-depth analysis is conducted on the significance of implementing soft end-effectors in agriculture as well as the potential opportunities and challenges that will arise in the future.

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Section: Soft End-effectormentioning

confidence: 99%

Section: Electrically Driven Actuatormentioning

confidence: 99%

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Perceptual Soft End-Effectors for Future Unmanned Agriculture

Ye,

Zhao,

Luo

et al. 2023

Sensors

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“… Wu et al (2008) did such an evaluation on eggplant pulp. Applying EIS for fruit status appraisal will allow for further development and automation in horticulture (e.g., automatic picking of ripe fruit with robotic arms; Park et al., 2022 ).…”

Section: Overview Of Plant Eis Applicationsmentioning

confidence: 99%

Plant impedance spectroscopy: a review of modeling approaches and applications

Van Haeverbeke,

De Baets,

Stock

2023

Front. Plant Sci.

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Electrochemical impedance spectroscopy has emerged over the past decade as an efficient, non-destructive method to investigate various (eco-)physiological and morphological properties of plants. This work reviews the state-of-the-art of impedance spectra modeling for plant applications. In addition to covering the traditional, widely-used representations of electrochemical impedance spectra, we also consider the more recent machine-learning-based approaches.

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“…An interesting cutting tool with a rotary blade and gripper was designed and built for tomato harvesting using an industrial manipulator [15]. The manipulator was mounted on a wheeled mobile robot to provide access to the harvesting field and using the ground robotics for the task, the weight limit was not so critical for the design [16]. To avoid damaging the tomato, the gripper cutting design was changed with a soft robotics end-effector though the cutting mechanism was reported successful as well [17].…”

Section: Introductionmentioning

confidence: 99%

A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system

et al. 2023

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The sampling and monitoring of nature have become an important subject due to the rapid loss of green areas. This work proposes a possible solution for a sampling method of the leaves using an ornithopter robot equipped with an onboard 94.1 g dual-arm cooperative manipulator. One hand of the robot is a scissors-type arm and the other one is a gripper to perform the collection, approximately similar to an operation by human fingers. In the move toward autonomy, a stereo camera has been added to the ornithopter to provide visual feedback for the stem, which reports the position of the cutting and grasping. The position of the stem is detected by a stereo vision processing system and the inverse kinematics of the dual-arm commands both gripper and scissors to the right position. Those trajectories are smooth and avoid any damage to the actuators. The real-time execution of the vision algorithm takes place in the lightweight main processor of the ornithopter which sends the estimated stem localization to a microcontroller board that controls the arms. The experimental results both indoors and outdoors confirmed the feasibility of this sampling method. The operation of the dual-arm manipulator is done after the perching of the system on a stem. The topic of perching has been presented in previous works and here we focus on the sampling procedure and vision/manipulator design. The flight experimentation also approves the weight of the dual-arm system for installation on the flapping-wing flying robot.

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A novel end-effector for a fruit and vegetable harvesting robot: mechanism and field experiment

Cited by 7 publications

References 37 publications

Perceptual Soft End-Effectors for Future Unmanned Agriculture

Perceptual Soft End-Effectors for Future Unmanned Agriculture

Plant impedance spectroscopy: a review of modeling approaches and applications

A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system

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