Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms

Soft Robotics showed great potential in applications where safety and compliance are key factors for the interaction of the robot with delicate objects and the environment. Mushroom harvesting nowadays is mainly performed by human harvesters and requires both dexterity and a gentle touch to preserve...

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Autores: Pagliarani, Niccolò, Picardi, Giacomo, Pathan, Radan, Uccello, Andrea, Grogan, Helen, Cianchetti, Matteo
Tipo de recurso: otro
Estado:Versión aceptada para publicación
Fecha de publicación:2023
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/357067
Acceso en línea:http://hdl.handle.net/10261/357067
Access Level:acceso abierto
Palabra clave:Soft Robotics
Soft Gripper
Bruising analysis
Agaricus bisporus
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spelling Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of MushroomsPagliarani, NiccolòPicardi, GiacomoPathan, RadanUccello, AndreaGrogan, HelenCianchetti, MatteoSoft RoboticsSoft GripperBruising analysisAgaricus bisporusSoft Robotics showed great potential in applications where safety and compliance are key factors for the interaction of the robot with delicate objects and the environment. Mushroom harvesting nowadays is mainly performed by human harvesters and requires both dexterity and a gentle touch to preserve the quality of fresh products. Indeed, improper contact may lead to blemishes on the mushroom surface representing a loss for the market. The inherent mechanical compliance of soft grippers is a major advantage for gripping delicate produce, as the soft robotic structure can passively conform around the object to distribute its contact load, however clear specifications on the maximum forces that can be exerted are crucial for the design. This work presents a soft finger-based pneumatic gripper inspired by human hand capabilities in the manipulation of white buttom mushrooms, with the final aim of integrating into a robotic platform to automate the mushroom picking process. Bruising analysis on fresh mushrooms has been performed to evaluate the range of normal force that can be exerted without causing damage to the fresh products. The results show that mushroom cell walls can tolerate normal forces up to 7 N without breaking and exhibiting bruises. This value is significantly higher than the average normal force exerted by the expert harvester (2-3N) and it should be considered as the upper limit of the normal force which can be exerted by the gripper. These preliminary results pave the way to integrate the proposed soft gripper into mushroom shelves as the first step towards the automatizing of the harvesting processWith the institutional support of the ‘Severo Ochoa Centre of Excellence’ accreditation (CEX2019-000928-S)Peer reviewedInternational Workshop on Metrology for Agriculture and Forestry (MetroAgriFor), 6-8 November 2023, Pisa, Italy.-- 6 pages, 7 figures, 1 tableInstitute of Electrical and Electronics EngineersAgencia Estatal de Investigación (España)Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202420242023info:eu-repo/semantics/otherhttp://purl.org/coar/resource_type/c_3248Postprintinfo:eu-repo/semantics/acceptedVersioninfo:eu-repo/semantics/bookParthttp://hdl.handle.net/10261/357067reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttps://doi.org/10.1109/MetroAgriFor58484.2023.10424253Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3570672026-05-22T06:33:51Z
dc.title.none.fl_str_mv Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
title Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
spellingShingle Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
Pagliarani, Niccolò
Soft Robotics
Soft Gripper
Bruising analysis
Agaricus bisporus
title_short Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
title_full Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
title_fullStr Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
title_full_unstemmed Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
title_sort Towards a Bioinspired Soft Robotic Gripper for Gentle Manipulation of Mushrooms
dc.creator.none.fl_str_mv Pagliarani, Niccolò
Picardi, Giacomo
Pathan, Radan
Uccello, Andrea
Grogan, Helen
Cianchetti, Matteo
author Pagliarani, Niccolò
author_facet Pagliarani, Niccolò
Picardi, Giacomo
Pathan, Radan
Uccello, Andrea
Grogan, Helen
Cianchetti, Matteo
author_role author
author2 Picardi, Giacomo
Pathan, Radan
Uccello, Andrea
Grogan, Helen
Cianchetti, Matteo
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Agencia Estatal de Investigación (España)
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Soft Robotics
Soft Gripper
Bruising analysis
Agaricus bisporus
topic Soft Robotics
Soft Gripper
Bruising analysis
Agaricus bisporus
description Soft Robotics showed great potential in applications where safety and compliance are key factors for the interaction of the robot with delicate objects and the environment. Mushroom harvesting nowadays is mainly performed by human harvesters and requires both dexterity and a gentle touch to preserve the quality of fresh products. Indeed, improper contact may lead to blemishes on the mushroom surface representing a loss for the market. The inherent mechanical compliance of soft grippers is a major advantage for gripping delicate produce, as the soft robotic structure can passively conform around the object to distribute its contact load, however clear specifications on the maximum forces that can be exerted are crucial for the design. This work presents a soft finger-based pneumatic gripper inspired by human hand capabilities in the manipulation of white buttom mushrooms, with the final aim of integrating into a robotic platform to automate the mushroom picking process. Bruising analysis on fresh mushrooms has been performed to evaluate the range of normal force that can be exerted without causing damage to the fresh products. The results show that mushroom cell walls can tolerate normal forces up to 7 N without breaking and exhibiting bruises. This value is significantly higher than the average normal force exerted by the expert harvester (2-3N) and it should be considered as the upper limit of the normal force which can be exerted by the gripper. These preliminary results pave the way to integrate the proposed soft gripper into mushroom shelves as the first step towards the automatizing of the harvesting process
publishDate 2023
dc.date.none.fl_str_mv 2023
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/other
http://purl.org/coar/resource_type/c_3248
Postprint
info:eu-repo/semantics/acceptedVersion
dc.type.openaire.fl_str_mv info:eu-repo/semantics/bookPart
format other
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/357067
url http://hdl.handle.net/10261/357067
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv https://doi.org/10.1109/MetroAgriFor58484.2023.10424253
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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