![]() To that end, the current state of automatic picking tasks for several crops is analysed, identifying which of them lack automatic solutions, and which methods are commonly used based on the botanical characteristics of the fruits. This review aims to provide an in-depth look at soft end-effectors for agricultural applications, with a special emphasis on robotic harvesting. Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments and in operation with delicate products. Agriculture 4.0 is transforming farming livelihoods thanks to the development and adoption of technologies such as artificial intelligence, the Internet of Things and robotics, traditionally used in other productive sectors.
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