  We describe the construction and evaluation of two robotic grippers for berry
picking. Using a pneumatic cylinder drive, one was constructed from hard
materials and the other from soft materials. A novel evaluation paradigm using
a handle mechanism was developed, so the grippers could be directly op-erated
by human participants. An artificial bush was also constructed and used for
evaluation purposes. Overall, both grippers performed worse than the human
hand, indicating that further development is needed.
