Fruit Phantoms for Robotic Harvesting Trials—Mango Example

Experimental trials on the performance of end-effectors for automated harvest soft fruit are constrained by seasonal limitations availability and perishability, necessitating use different sets across time. Consequently, stalk phantoms, rather than real fruit, is an attractive proposition. In this paper, a process cost-effective production stable phantoms using silicone (polydimethylsiloxane, PDMS) starch was presented. A preliminary consideration also presented creation phantom stalk, involving wooden dowel or magnetic latching. Mango were benchmarked to mango in terms density, firmness, brittleness, etc.