轻柔采摘水果的智能夹爪，靠视觉触觉感知防损保稳。
FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting
- 用嵌入式相机实现高分辨率视觉触觉，感知力与滑移。
- 实测可稳定抓握多种水果，减少采摘损伤。
- 结构紧凑低成本，适合果园大规模应用。
水果采摘自动化因劳动力短缺日益重要。传感器化夹爪是关键，需具备紧凑性、适配多种果实、稳定抓握，并提供果实状态反馈以提升效率。为此，我们提出FruitTouch——一种集成优化光学设计的高分辨率视觉触觉传感的紧凑夹爪。该设计兼容多种果径，成本低且机械结构简单。嵌入式摄像头捕获的触觉图像可实时用于力估计、滑移检测与果实软度预测。在真实果园采摘实验中验证了其抓握稳定性与损伤预防能力。
原文摘要 · Abstract (English)
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp diverse fruits, and provide reliable feedback on fruit conditions for efficient harvesting. To address this need, we propose FruitTouch, a compact gripper that integrates high-resolution, vision-based tactile sensing through an optimized optical design. This configuration accommodates a wide range of fruit sizes while maintaining low cost and mechanical simplicity. Tactile images captured by an embedded camera provide rich information for real-time force estimation, slip detection, and softness prediction. We validate the gripper in real-world fruit harvesting experiments, demonstrating robust grasp stability and effective damage prevention.
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