Fecha de publicación: 16/01/2025 Fuente: WIPO "tomato" A gripper assembly of a device for harvesting produce from a plant includes a blade, a pivot axis coupled to the blade, and a pair of fingers including a first finger and a second finger configured to pivot about the pivot axis. The gripper assembly may also include an actuation system, configured to actuate the first finger. The gripper assembly may also include a spring steel configured to bias the second finger to keep the second finger at a stable position when no force is exerted against the second finger, such that when the first finger is actuated, the pair of fingers are caused to open and close to grip a stem of a target produce item, or swipe over the blade to cause the blade to cut the stem of the target produce item to detach the target produce item from a plant.