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1 12 33 ; S ; This is the author's version of a work that was accepted for publication in Mechatronics. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Mechatronics, Vol. 33, (2016)] DOI 10.1016/j.mechatronics.2015.11.007. Several pneumatic grippers with accelerometers attached to their fingers have been developed and tested. The first gripper is able to classify the hardness of different cylinders, estimate the pneumatic pressure, monitor the position and speed of the gripper fingers, and study the phases of the action of grasping and the influence of the relative position between the gripper and the cylinders. The other grippers manipulate and assess the firmness of eggplants and mangoes. To achieve a gentle manipulation, the grippers employ fingers with several degrees of freedom in different configurations and have a membrane filled with a fluid that allows their hardness to be controlled by means of the jamming transition of the granular fluid inside it. To assess the firmness of eggplants and mangoes and avoid the influence of the relative position between product and gripper, the firmness is estimated while the products are being held by the fingers. Better performance of the accelerometers is achieved when the finger employs the granular fluid. The article presents methods for designing grippers capable of assessing the firmness of irregular products with accelerometers. At the same time, it also studies the possibilities that accelerometers, attached to different pneumatic robot gripper fingers, offer as tactile sensors. (C) 2015 Elsevier Ltd. All rights reserved. This research is supported by the MANI-DACSA project (Grant number RTA2012-00062-C04-02), which is partially funded by the Spanish Government (Ministerio de Economia y ...

This is the author's version of a work that was accepted for publication in Mechatronics. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Mechatronics, Vol. 33, (2016)] DOI 10.1016/j.mechatronics.2015.11.007. ; Several pneumatic grippers with accelerometers attached to their fingers have been developed and tested. The first gripper is able to classify the hardness of different cylinders, estimate the pneumatic pressure, monitor the position and speed of the gripper fingers, and study the phases of the action of grasping and the influence of the relative position between the gripper and the cylinders. The other grippers manipulate and assess the firmness of eggplants and mangoes. To achieve a gentle manipulation, the grippers employ fingers with several degrees of freedom in different configurations and have a membrane filled with a fluid that allows their hardness to be controlled by means of the jamming transition of the granular fluid inside it. To assess the firmness of eggplants and mangoes and avoid the influence of the relative position between product and gripper, the firmness is estimated while the products are being held by the fingers. Better performance of the accelerometers is achieved when the finger employs the granular fluid. The article presents methods for designing grippers capable of assessing the firmness of irregular products with accelerometers. At the same time, it also studies the possibilities that accelerometers, attached to different pneumatic robot gripper fingers, offer as tactile sensors. (C) 2015 Elsevier Ltd. All rights reserved. ; This research is supported by the MANI-DACSA project (Grant number RTA2012-00062-C04-02), which is partially funded by the Spanish Government (Ministerio de Economia y Competitividad.). ...

A pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One of the fingers adapts to and copies the shapes of eggplants when the jamming of its internal granular material changes from soft to hard. The other fingers adapt to the shape of the eggplant with the use of extra degrees of freedom. Specific software acquires and processes the information obtained with the inertial sensors and generates 16 independent variables extracted from the signals. A total of 234 eggplants were selected and tested on the same day with the robot gripper, during the pick-and-place operation, and with a destructive firmness tester. The non-destructive parameters extracted from the gripper finger accelerometers were used to build and validate a partial least square model, with a calibration regression coefficient of r = 0.87 and a high prediction performance (r = 0.90). Furthermore, from the results of the paper, it has been seen that the procedure can be simplified by using only two non-destructive impacts and one uniaxial accelerometer to assess eggplant firmness. The non-destructive assessment of firmness while grasping agricultural products in pick-and-place operations could be implemented in many prehensile pneumatic robot grippers. This technique could mean an important advance in the hygienic postharvest handling of fruits and vegetables. ; This research is supported by MANI-DACSA project (Ref. RTA2012-00062-C04-02), partially funded by the Spanish Government (Ministerio de Economia y Competitividad). ; Blanes Campos, C.; Ortiz Sánchez, MC.; Mellado Arteche, M.; Beltrán Beltrán, P. (2015). Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper. Computers and Electronics in Agriculture. 113:44-50. https://doi.org/10.1016/j.compag.2015.01.013 ; S ; 44 ; 50 ; 113

The final publication is available at link.springer.com ; [EN] The objective of the study was to evaluate the use of a robot gripper in the assessment of mango (cv. BOsteen^) firmness as well as to establish relationships between the nondestructive robot gripper measurements with embedded accelerometers in the fingers and the ripeness of mango fruit. Intact mango fruit was handled and manipulated by the robot gripper, and the major physicochemical properties related with their ripening index were analyzed. Partial least square regression models (PLS) were developed to explain these properties according to the variables extracted from the accelerometer signals. Correlation coefficients of 0.925, 0.892, 0.893, and 0.937 with a root-mean-square error of prediction of 2.524 N/ mm, 1.579 °Brix, 3.187, and 0.517, were obtained for the prediction of fruit mechanical firmness, total soluble solids, flesh luminosity, and ripening index, respectively. This research showed that it is possible to assess mango firmness and ripeness during handling with a robot gripper. ; The authors thanks MANI-DACSA projects (ref. RTA2012-00062-C04-02 and RTA2012-00062-C04-03), Spanish Government (Ministerio de Economia y Competitividad), AICO/2015/122 project, Conselleria de Educacion, Cultura y Deporte, Generalitat Valenciana and PAID-05-11-2745 project, Vicerectorat d'Investigacio, Universitat Politecnica de Valencia. Victoria Cortes thanks Spanish Ministerio de Educacion, Cultura y Deporte for a FPU grant (FPU13/04202). ; Blanes Campos, C.; Cortés López, V.; Ortiz Sánchez, MC.; Mellado Arteche, M.; Talens Oliag, P. (2015). Non-Destructive Assessment of Mango Firmness and Ripeness Using a Robotic Gripper. Food and Bioprocess Technology. 8(9):1914-1924. https://doi.org/10.1007/s11947-015-1548-2 ; S ; 1914 ; 1924 ; 8 ; 9 ; Abdi, H. (2010). Partial least squares regression and projection on latent structure regression (PLS regression). Wiley Interdisciplinary Reviews: Computational Statistics, 2(1), 97–106. ; Bandyopadhyaya I., Babu D., ...

1914 1924 8 9 ; S ; Lucena, Eliseu Marlônio Pereira de, Assis J.S.d., Alves R.E., Silva, Víctor César Macêdo da, & Enéias, Filho J. (2007). Alterações físicas e químicas durante o desenvolvimento de mangas 'Tommy Atkins' no vale de São Francisco, Petrolina-PE. Revista Brasileira de Fruticultura, 29, 96-101. ; The final publication is available at link.springer.com [EN] The objective of the study was to evaluate the use of a robot gripper in the assessment of mango (cv. BOsteen^) firmness as well as to establish relationships between the nondestructive robot gripper measurements with embedded accelerometers in the fingers and the ripeness of mango fruit. Intact mango fruit was handled and manipulated by the robot gripper, and the major physicochemical properties related with their ripening index were analyzed. Partial least square regression models (PLS) were developed to explain these properties according to the variables extracted from the accelerometer signals. Correlation coefficients of 0.925, 0.892, 0.893, and 0.937 with a root-mean-square error of prediction of 2.524 N/ mm, 1.579 °Brix, 3.187, and 0.517, were obtained for the prediction of fruit mechanical firmness, total soluble solids, flesh luminosity, and ripening index, respectively. This research showed that it is possible to assess mango firmness and ripeness during handling with a robot gripper. The authors thanks MANI-DACSA projects (ref. RTA2012-00062-C04-02 and RTA2012-00062-C04-03), Spanish Government (Ministerio de Economia y Competitividad), AICO/2015/122 project, Conselleria de Educacion, Cultura y Deporte, Generalitat Valenciana and PAID-05-11-2745 project, Vicerectorat d'Investigacio, Universitat Politecnica de Valencia. Victoria Cortes thanks Spanish Ministerio de Educacion, Cultura y Deporte for a FPU grant (FPU13/04202). Blanes Campos, C.; Cortés López, V.; Ortiz Sánchez, MC.; Mellado Arteche, M.; Talens Oliag, P. (2015). Non-Destructive Assessment of Mango Firmness and Ripeness Using a Robotic Gripper. Food and Bioprocess ...