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Soft actuator technology and its role in robotic manipulation have been rapidly gaining ground. However, less attention has been given to the potential advantages of its application to the agricultural sector, where soft robotics may be a game changer due to its greater adaptability, lower cost and simplicity of manufacture. This article presents a new design approach for soft grippers based on modules that incorporate the concept of bellows and combine it with the versatility and replicabilitydoi:10.3390/agronomy11091727 fatcat:3lh6yv4b3ncd5cmj6gf7kx6ldm