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Unfortunately, traditional testing methods necessitate the deployment of numerous bulky machines and cannot accurately determine the quality of produce prior to harvest. In recent years, with the advancement of soft robot technology, stretchable electronic technology, and material science, integrating flexible plant wearable sensors on soft end-effectors has been considered an attractive solution to these problems. This paper critically reviews soft end-effectors, selecting the appropriate drive mode according to the challenges and application scenarios in agriculture: electrically driven, fluid power, and smart material actuators. In addition, a presentation of various sensors installed on soft end-effectors specifically designed for agricultural applications is provided. These sensors include strain, temperature, humidity, and chemical sensors. Lastly, an in-depth analysis is conducted on the significance of implementing soft end-effectors in agriculture as well as the potential opportunities and challenges that will arise in the future.<\/jats:p>","DOI":"10.3390\/s23187905","type":"journal-article","created":{"date-parts":[[2023,9,17]],"date-time":"2023-09-17T23:57:46Z","timestamp":1694995066000},"page":"7905","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Perceptual Soft End-Effectors for Future Unmanned Agriculture"],"prefix":"10.3390","volume":"23","author":[{"given":"Weikang","family":"Ye","sequence":"first","affiliation":[{"name":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lin","family":"Zhao","sequence":"additional","affiliation":[{"name":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuan","family":"Luo","sequence":"additional","affiliation":[{"name":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junxian","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Xinjiang Agricultural University, Urumqi 830052, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5419-669X","authenticated-orcid":false,"given":"Xiangjiang","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China"},{"name":"College of Mechanical Engineering, Xinjiang Agricultural University, Urumqi 830052, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"921","DOI":"10.1111\/padr.12508","article-title":"Rethinking Global Food Demand for 2050","volume":"48","author":"Falcon","year":"2022","journal-title":"Popul. 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