SHAHID ANSARI

Abstract This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven by a servo-actuated Scotch-yoke mechanism, and includes separator leaves that form a conical frustum for fruit isolation, with an integrated micro-servo cutter for pedicel cutting.

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