Fuente: WIPO "tomato" Techniques are described herein for a method may include generating, by using a vision-based tactile sensor (VBTS) (122) of a wearable device (105), palpation data corresponding to a deformation detected by the VBTS (122) upon a contact of the VBTS (122) with an object (103) that includes at least one of: a fruit, a legume, or a vegetable, generating an input to a machine learning (ML) model (170) based on the palpation data; determining an output of the ML model (170) in response to the input such that the output may indicate a firmness of the object. In some embodiments, the method may include presenting, by using a user interface (UI) (132) of the wearable device (105), an indication of the firmness.