Biomimetic Soft Actuators for Handling Fragile Agricultural Produce

Abstract

Traditional rigid grippers often damage delicate crops during automated harvesting. We propose a silicone-based soft actuator design inspired by the tentacle structure of cephalopods. The proposed gripper adapts to the shape of the fruit, reducing surface pressure by 40% while maintaining a secure hold, making it ideal for robotic harvesting of tomatoes and strawberries.