Efficient Force and Stiffness Prediction in Robotic Produce Handling with a Piezoresistive Pressure Sensor

Abstract: Properly handling del i cate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing . Grasping with the correct amount of force is crucial in not only ensuring proper grip on the object, but also to avoid damaging or bruising the product . In this work, a flexible pressure sensor that is both low cost and easy to fabricate is integrated with robotic grippers for work ing with produce of varying shape s, sizes, and stiffness es . The sensor is successfully integrated with both a rigid robotic gripper, as well as a pneumatically actuated soft finger. Furthermore, an algorithm is proposed for acce lerated estimation of the steady - state value of the sensor output based on the transient response data, to enable real - time applications. The sensor is shown to be effective in incorporating feedback to correctly grasp objects of unknown sizes and stiffnesses . At the same time, the sensor provid es estimates for these values which can be utilized for identification of qualities such as ripeness levels and bruising . It is also shown to be able to provide force feedback for objects of variable stiffness es . Th is enables future use not only for produce identification, but also for tasks such as quality control and selective distribution based on ripeness levels . Keywords: Robotics, sensing, p roduce handling, grasping Highlights: Low - cost and easy - to - fabricate sensor for easy implementation with a variety of robotic grippers Fast estimation of settled resistance using exponential decay curve fit Measurements of grasping force and stiffness of a held object V arious produce handling features such as ripeness monitoring, bruising detection, and size estimation 1. Introduction: The use of robotic end - effectors for securely grasping objects is a pivotal component in manipulation tasks .