Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper

- A gripper for handling and sorting eggplants by their firmness has been designed.
- An underactuation motion and a jamming system provide adaptation to eggplant shape.
- Inertial sensors attached to the gripper jaws collect decelerations during grasping.
- A software processes decelerations and provides 16 independent variables.
- A model has been developed and validated to explain firmness with the sensor data.