Recent Developments in Electroadhesion Grippers for Automated Fruit Grasping

As global food demand rises and agricultural labor shortages intensify, robotic automation has become essential for sustainable fruit grasping. Among emerging technologies, ElectroAdhesion (EA) grippers offer a promising alternative to traditional mechanical end-effectors, enabling gentle, low-pressure handling through electrostatically induced adhesion. This paper presents a methodical review of EA grippers applied to fruit grasping, focusing on their advantages, limitations, and key design considerations. A targeted literature search identified ten EA-based and hybrid EA gripping systems tested on fruit manipulation, though none has yet been tested in real-world environments such as fields or greenhouses. Despite a significant variability in experimental setups, materials, and grasp types, qualitative insights are drawn from our analysis demonstrating the potentialities of EA technologies. The EA grippers found in the targeted review are effective on diverse fruits, shapes, and surface textures; they can hold load capacities ranging from 10 g (~0.1 N) to 600 g (~6 N) and provide minimal compressive stress at high electrostatic shear forces. Along with custom EA grippers designed accordingly to specific use cases, field and greenhouse testing will be crucial for advancing the technology readiness level of EA grippers and unlocking their full potential in automated crop harvesting.