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.

翻译：为应对日益严重的劳动力短缺问题，果实采摘自动化的重要性日益凸显。传感器化夹持器是该过程中的关键组件，其必须足够紧凑以适应狭窄空间，能够稳定抓取多种果实，并能提供可靠的果实状态反馈以实现高效采摘。为满足这一需求，我们提出了FruitTouch，一种紧凑型夹持器，它通过优化的光学设计集成了高分辨率、基于视觉的触觉感知。该配置可适应广泛的果实尺寸范围，同时保持低成本与机械结构简单性。嵌入式摄像头捕获的触觉图像为实时力估计、滑动检测和软度预测提供了丰富信息。我们在真实果实采摘实验中验证了该夹持器，展示了其稳健的抓取稳定性和有效的损伤预防能力。