This paper approaches the design problem of suitable grippers for a robotic
arm to pick up horticulture products. General considerations have been poi
nted out and main concepts and mechanical designs have been discussed and p
roposed by sketches and drawings for an easy understanding of "on-field" pr
oblems and feasible solutions. Pneumatic actuation has been proposed with s
uitable grasp force control by using commercial components. Specific attent
ion has been focused on tomato horticulture for a practical design and prot
otyping of a device for laboratory experiments.