Nice video. The article somewhat addresses this: "These previous approaches include using a belt‐driven band saw‐type mechanisms or water jet cutting. These app

Nice video. The article somewhat addresses this: "These previous approaches include using a belt‐driven band saw‐type mechanisms or water jet cutting. These approaches have limitations, most notably that the outer leaves of the lettuce can be easily damaged when harvesting and there is a lack of reliability in stem cutting height and quality." Seems like the solution discussed in the article does not really improve upon this significantly: "As the project stands, the damage rate, caused by cutting the lettuce stem too short, is too high for supermarket standards, although the harvested vegetables were perfectly edible. The most recent sample size of 69 lettuces was enough to confirm this as the next problem to address (hundreds of lettuces had been harvested over previous iterations). Future versions of Vegebot will need to address and improve the damage rate, perhaps with visual feedback from the harvested lettuces dynamically adjusting the force threshold at which the cut is made. In parallel, the end effector needs to be made lighter to achieve a human‐level cycle time, possibly by manufacturing with carbon fiber, or by using an alternative, stronger cartesian arm design."