Article

Optoelectronic soft suction cup enables mechanical interaction force sensing for kiwifruit grasping

The research team proposed a two-component optoelectronic soft suction cup designed for kiwifruit that uses optical signals to estimate interaction forces with real fruit within known contact intervals. On fruit not used in training, it achieved grouped cross-validation R²=0.968±0.005 (MAE=0.138 N), with a median per-fruit held-out R² of 0.973 (MAE=0.134 N).

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