Robotic Tactile Sensing for Early Detection of Frost-Damaged Citrus Fruits with Pressure-Vibration Multimodal Fusion.

Yida Yu, Zihao Wu, Changqing An, Xiaopeng Lv, Yiran Zhao, Huirong Xu

Abstract read

In one paragraph

Article in Foods (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

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3 · Its place in the literature

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0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Yida YuCollege of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China.ORCID 0009-0000-5908-4892

Zihao WuCollege of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China.

Changqing AnCollege of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China.ORCID 0000-0003-1113-2917

Xiaopeng LvCollege of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China.

Yiran ZhaoCollege of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China.

Huirong XuCollege of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China.ORCID 0000-0003-0701-4790

Funding

People's Government of Zhejiang Province 2023C02007People's Government of Zhejiang Province 2023R5250

6 · The paper itself

Abstract

Early-stage frost damage in citrus fruits is difficult to detect because external symptoms are often weak or absent, hindering intelligent robotic sorting in postharvest scenarios. To address this challenge, this study proposes a robotic multimodal tactile sensing approach inspired by human mechanoreception for frost-damage detection during grasping. A robotic gripper equipped with a 6×6 pressure matrix sensor and a piezoelectric vibration sensor was used to capture complementary tactile cues during standardized fruit handling, enabling the perception of subtle mechanical changes associated with early frost injury. Using 240

Indexed as

citrus frost damagemultimodal tactile perceptionpressure–vibration fusionrobotic sortingtemporal attributiontransformer

Identifiers

PMID42121540

DOI10.3390/foods15091597

PMCPMC13164011

What OpenQuestion holds

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LicenceCC BY

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.