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. 2023 Nov 6;14:7132. doi: 10.1038/s41467-023-42838-7

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 5 — a The pneumatic soft grippers compose four actuators for the gripping of a tomato. b The schematics of the VegPU/Ag electrode on a soft pneumatic actuator. c The twisting deformation of a soft pneumatic actuator. d The resistance changes of VegPU/Ag electrode after cycling twisting deformation. e, f The different placements/gestures and measured impedance of the gripper when gripping a tomato, respectively. The photo images (g), Bode impedance curves (h), and Nyquist impedance (i) were acquired by the soft gripper of one tomato during 7 days of storage. j Schematics of ions movement inside the tomato tissue at high and low frequencies. The photo images (k), Bode impedance curves acquired by the soft gripper (l), soluble content (m), and firmness (n) of three tomatoes.