Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation strategies used by humans to pick loose fruits and vegetables with the aim to better adopt them for robotic manipulation of diverse items. In this work we present a first version of a robotic setup designed to pick different single or multiple fresh items, featuring multi-fingered compliant robotic gripper. We analyse human grasping strategies from the perspective of industrial Key Performance Indicators (KPIs) used in the logistic sector. The robotic system was validated using the same KPIs, as well as taking into account human performance and strategies. This paper lays the foundation for future development of the robotic demonstrator for fresh fruit and vegetable intelligent manipulation, and outlines the need for generic approaches to handle the complexity of the task.

翻译：生鲜果蔬的机器人操控，包括对多个松散物品的抓取，具有强烈的工业需求，但对机器人操控而言仍是一项具有挑战性的任务。本文概述了人类抓取松散果蔬时所采用的独特操控策略，旨在更好地将其应用于对不同物品的机器人操控。在这项工作中，我们提出了一个机器人系统的初步版本，该系统设计用于抓取不同的单个或多个生鲜物品，并配备多指柔性机器人夹爪。我们从物流行业使用的工业关键绩效指标的角度分析了人类的抓取策略。该机器人系统使用相同的KPI进行了验证，并同时考虑了人类的表现和策略。本文为未来开发生鲜果蔬智能操控的机器人演示系统奠定了基础，并概述了处理该任务复杂性所需采用通用方法的必要性。