Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2014-10-09T13:17:45Z No. of bitstreams: 2 Dissertação - Allys Vilela de Oliveira - 2013.pdf: 7595804 bytes, checksum: 80235a511700ad25a0223ccfef5a63bf (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2014-10-09T13:21:53Z (GMT) No. of bitstreams: 2 Dissertação - Allys Vilela de Oliveira - 2013.pdf: 7595804 bytes, checksum: 80235a511700ad25a0223ccfef5a63bf (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Made available in DSpace on 2014-10-09T13:22:22Z (GMT). No. of bitstreams: 2 Dissertação - Allys Vilela de Oliveira - 2013.pdf: 7595804 bytes, checksum: 80235a511700ad25a0223ccfef5a63bf (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Previous issue date: 2013-07-07 / Conselho Nacional de Pesquisa e Desenvolvimento Científico e Tecnológico - CNPq / The Foodborne Diseases stand out as a public health problem, and the residences are among the main sites of occurrence. In many residences the household employee holds the position of food handler, being directly responsible for the health of the food served at the table. The aim of this study was to analyze the practices of food handling and responses to a questionnaire on these practices by domestic workers in their professional environment. Therefore, it was observed hygiene techniques applied for 35 domestic workers during the preparation of a meal, and then were asked about their habits when handling food at work. The instruments used to collect data were a checklist of practice of food safety and a questionnaire about the topic. We calculated descriptive indicators of the sample mean, median and standard deviation. The association between the questionnaire responses and attitudes during observation were calculated by Kappa coefficient and chi-square test (α = .05). The mean observation time of the preparation of the meal in each residence was 46 minutes, while the questionnaire required an average of 15 minutes for each subject answers it. The observation of food handling these individuals showed that 64% of their attitudes were adequate, while in their responses to the questionnaire reported having the habit of performing 70% of procedures. It was found that personal hygiene was the area with lower fitness (40%), while the responses to the questionnaire indicated environmental hygiene as with larger mismatches (56%). The cleaning of hands was prominent among the inadequate procedures during the observation, approximately 85% of the sample committed the fault. Another point that stands out is the use of dish cloth, a practice common in kitchens for 80% of subjects. There was a positive association between education and care practices as observed with the expiration date of food products and defrost foods properly. Already the questionnaire responses were associated with schooling in five items concerning appropriate attire in meal preparation, cleaning and proper storage of food. Statistical analyzes showed that hygiene practices applied in the preparation of the meals were not associated with the answers provided. We conclude that the handling of food for domestic workers exposes diners to contamination by Foodborne Diseases, and that there is a difference between the application of food safety practices in food preparation and answers regarding their practices. / As Doenças Transmitidas por Alimentos se destacam como problema de saúde pública, e as residências estão entre os principais locais de ocorrência. Em muitos domicílios o empregado doméstico ocupa o cargo de manipulador de alimentos, sendo o responsável direto pela sanidade dos alimentos servidos à mesa. O objetivo deste trabalho foi analisar as práticas de manipulação de alimentos e as respostas a um questionário sobre estas práticas por trabalhadores domésticos em seu ambiente profissional. Para tanto, observou-se as técnicas de higiene aplicadas por 35 empregados domésticos durante o preparo de uma refeição, em seguida foram questionados quanto a seus hábitos ao manipular alimentos no trabalho. Os instrumentos utilizados na coleta de dados foram uma lista de verificação de Boas Práticas de Manipulação de Alimentos e um questionário sobre hábitos de higiene ao manipular alimentos. Foram calculados os indicadores descritivos da amostra: média, mediana e desvio padrão. A associação entre respostas ao questionário e atitudes durante a observação foram calculadas por coeficiente Kappa e teste qui-quadrado de Pearson (α=0,05). O tempo médio de observação do preparo da refeição em cada residência foi de 46 minutos, enquanto a aplicação do questionário exigiu em média 15 minutos para cada sujeito responde-lo. A observação da manipulação de alimentos destes indivíduos demonstrou que 64% das suas atitudes foram adequadas, enquanto em suas respostas ao questionário informaram ter o hábito de realizar 70% dos procedimentos adequados. Foi possível constatar que a higiene pessoal foi a área com menor adequação (40%), enquanto as respostas ao questionário indicaram a higiene ambiental como a com maiores inadequações (56%). A higienização de mãos foi destaque entre os procedimentos inadequados durante a observação, aproximadamente 85% da amostra cometeu a falha. Outro ponto que chama atenção é o uso de pano de prato, prática comum nas cozinhas para 80% dos sujeitos. Verificou-se uma associação positiva entre escolaridade e as práticas observadas quanto ao cuidado com a data de validade de produtos alimentícios e ao descongelamento adequado dos alimentos. Já as respostas ao questionário estiveram associadas com a escolaridade em cinco itens relativos a vestimentas adequadas no preparo de refeições, armazenamento e higienização adequados dos alimentos. As análises estatísticas comprovaram que as práticas de higiene aplicadas no preparo das refeições não estavam associadas às respostas fornecidas. Conclui-se que a manipulação dos alimentos por empregados domésticos expõe os comensais à contaminação por Doenças Transmitidas por Alimentos, e que há uma divergência entre a aplicação dos procedimentos de higiene no preparo de alimentos e as respostas quanto as suas práticas.

M.Tech. Business Administration. Business School. / The purpose of this study is to investigate the internal behavioural barriers to the implementation of hazard analysis and critical control point (HACCP). This investigation aims to assist the hospitality industry in implementing best practice in food hygiene to maximise public food safety and profitability. It also aims to investigate and possibly generate creative initiatives to control and monitor the long-term implementation of hazard analysis and critical control point principles in the sector so as to render it competitive on an international level.

Capes; CNPq / A manutenção das condições higiênicas na produção de alimentos é considerada peça chave na obtenção de alimentos seguros. Os ambientes dos frigoríficos apresentam uma grande quantidade de matéria orgânica rica em nutrientes que podem favorecer ao crescimento de micro-organismos A presente pesquisa objetivou a elaboração de critérios para aumentar o controle da qualidade sanitária em equipamentos e utensílios de um frigorífico de suínos do Paraná. O desenvolvimento do trabalho iniciou com as análises dos resultados microbiológicos de coleta de swabs em equipamentos e utensílios do processo após a higienização seguindo os padrões das empresas habilitadas à exportação. Com base nos conceitos das normativas que dizem respeito às condições sanitárias nos ambientes produtivos, assim com a bibliografia existente, foi elaborada e aplicada uma escala de avaliação das condições favoráveis à higiene em equipamentos e utensílios do processo. Os resultados das avaliações microbiológicas mostraram um percentual de conformidade de 75,54% para micro-organismos aeróbios mesófilos e 88,96% para as enterobactérias e uma prevalência de resultados inaceitáveis, ao longo dos períodos analisados, especificamente nas esteiras transportadoras, as quais podem representar focos de contaminação e risco no controle microbiológico das carnes. A escala desenvolvida está composta por nove critérios que avaliam as características favoráveis a higiene e as características operacionais do processo. A aplicação da escala indica que os grupos das esteiras transportadoras e os equipamentos de corte foram as que apresentaram os maiores percentuais de inadequação aos critérios. Finalmente, a prevalência de enterobactérias foi significativa (p<0,01) (ao nível de significância de 5%) para o grupo das esteiras quando comparada com os outros grupos de equipamentos, pelo que as diferenças das características nos equipamentos podem estar relacionadas com a eficiência da higienização. / Maintaining hygienic conditions in food production is considered a key part of obtaining safety food. The aim of the present work was to elaborate the criteria to increase the control of the sanitary quality in equipment and utensils of a pork abattoir in Paraná. The development of the work began with the analysis of the microbiological results of the collection of swabs in equipment and tools of the process after the hygiene, following the standards of the companies authorized to export. Based on the concepts of the standards that concern the sanitary conditions in the productive environments, as well as the existing bibliography, a scale of evaluation of the conditions favorable to hygiene in equipment and utensils of the process was elaborated and applied. The results of the microbiological evaluations showed a 75.54% compliance rate for aerobic mesophilic microorganisms and 88.96% for enterobacteria and a prevalence of unacceptable results during the analyzed periods, specifically on conveyors. represent pockets of contamination and risk in the microbiological control of meat. The scale developed is composed of nine criteria that evaluate the characteristics favorable to hygiene and the operational characteristics of the process. The application of the scale indicates that the groups of conveyors and cutting equipment were those that presented the highest percentage of inadequacy to the criteria. Finally, the prevalence of enterobacteria was significant (p <0.01) (at the significance level of 5%) for the group of conveyors when compared to the other groups of equipment, so the differences in characteristics in the equipment can be related to the hygiene efficiency.

Made available in DSpace on 2014-12-17T14:13:38Z (GMT). No. of bitstreams: 1 AnaKCC.pdf: 364079 bytes, checksum: f1b3d299458adb60596529bc0976c051 (MD5) Previous issue date: 2009-05-12 / In Brazil school food is constitutionally guaranteed to public school students at the preschool and elementary level. This food must be nutritious, hygienic and sanitary. The aim of the present study was to assess the hygienic/sanitary conditions of food and table utensil handlers in municipal public schools in Natal, Brazil. In total, 27 public schools were assessed, using a checklist and microbiological analysis of the hands and table utensils. For the microbiological analyses of the hands, coliforms were analyzed at 45?C and for the utensils aerobic mesophilic bacteria, using methods recognized by AOAC, 2002 and APHA, 1992, respectively. Most of the schools studied did not exhibit good food and utensil handling practice procedures in any of the variables analyzed. It was shown that 74.1% of the handlers received no periodic training, 51.9% did not undergo annual health examinations and 100% did not practice proper hand hygiene, which reflected significantly (p < 0.05) in hand contamination, where fecal coliforms were detected on 55.6% of the hands analyzed. With respect to the utensils, it was found that 100% of the schools studied did not follow correct hygiene practices and most were classified as very bad ; that is, aerobic mesophilic bacteria values above the limits established by PAHO (Pan American Health Organization), with schools in the north and south districts recording the highest percentages. The results show that the hygienic-sanitary conditions of the food and utensil handlers in the schools studied were inadequate, demonstrating the need for implanting good handling practices aimed at protecting the health of children that take part in the program and offering safer foods. Researchers from the areas of food microbiology, nutrition, public health and statistics participated in this study, a decisive factor for characterizing it as multidisciplinary / No Brasil a alimenta??o escolar ? um direito constitucional dos alunos de escolas p?blicas que freq?entam a pr?-escola e ensino fundamental, devendo essa alimenta??o ser de boa qualidade em valores nutricionais e principalmente no aspecto higi?nico sanit?rio. O presente trabalho tem como objetivo avaliar as condi??es higi?nico-sanit?rias de manipuladores de alimentos e utens?lios de mesa de escolas p?blicas municipais na cidade de Natal/RN, no qual foram avaliadas 27 escolas p?blicas, utilizando um check-list e an?lise microbiol?gica das m?os e utens?lios de mesa. Para as an?lises microbiol?gicas das m?os de manipuladores, foram analisados coliformes ? 45?C e para os utens?lios bact?rias mes?filas aer?bias, atrav?s dos m?todos preconizados pela AOAC,2002 e APHA, 1992, respectivamente. A maioria das escolas estudadas apresentou n?o conformidades em todas as vari?veis analisadas. Foi verificado que 74,1% dos manipuladores n?o recebem treinamentos peri?dicos, 51,9% n?o realizam exames de sa?de anuais e 100% n?o fazem a higiene correta das m?os, o que refletiu significativamente (p< 0,05) na contamina??o das m?os, nas quais foram detectados coliformes fecais em 55,6% das m?os analisadas. Quanto aos utens?lios foi constatado que 100% das escolas estudadas n?o realizam procedimento adequado de higieniza??o e a maior parte apresentam classifica??o p?ssima , ou seja, valores de bact?rias mes?filas aer?bias acima dos limites estabelecidos pela OPAS Organiza??o Panamericana de Sa?de, sendo as escolas da regi?o Norte e Sul que apresentaram maiores percentuais. Os resultados encontrados mostram que as pr?ticas e condi??es de higiene dos manipuladores de alimentos e utens?lios utilizados nas escolas estudadas encontram-se inadequadas, sendo necess?ria implanta??o de boas pr?ticas de manipula??o, visando a prote??o da sa?de das crian?as que participam do programa, oferecendo alimentos mais seguros. Participou desse estudo pesquisadores das ?reas de microbiologia de alimentos, nutri??o, sa?de p?blica e estat?stica, fator decisivo para caracterizar a pesquisa como multidisciplinar

Introdução. O comércio de baguncinha, sanduíche típico da região metropolitana de Cuiabá - MT é fonte de renda no mercado informal e alternativa de alimentação fora de casa. A vigilância sanitária tem problemas estruturais e financeiros para a fiscalização enquanto os organismos de saúde pública recomendam a capacitação dos manipuladores. Objetivo. Avaliar a eficácia de uma intervenção educativa na representação social e na prática de manipuladores de sanduíche baguncinha. Método. Foram pesquisados 35 pontos de venda, divididos em grupo controle e teste, antes e depois de intervenção educativa. Foram observadas as condições de higiene ambiental e pessoal por meio de check list e realizadas análises microbiológicas e medição de temperatura interna do sanduíche. Por meio de entrevista semi-estruturada foram coletados dados representacionais e comportamentais relativos à manipulação segura de alimentos. Os depoimentos foram tratados pela técnica do discurso do sujeito coletivo e os dados comportamentais pela estatística paramétrica. A análise dos dados representacionais e comportamentais foi baseada na triangulação de teorias educativas. Resultados. As condições de higiene pessoal e ambiental se mostraram precárias nos pontos de venda. As mãos dos manipuladores apresentaram altos índices de contaminação microbiológica. Os sanduíches estavam impróprios para consumo em 31,4% das amostras. Predominou a não-conformidade para a temperatura de armazenamento dos ingredientes. A temperatura segura de cocção não foi alcançada em 84,2% dos baguncinhas. O conhecimento foi considerado de mediano a baixo. Os ambulantes preocupavam-se em manter a clientela e a principal dificuldade foi à falta de infra-estrutura no ponto de venda. Como incentivo à mudança de comportamento, a redução de impostos e o acesso a financiamentos predominaram na representação social dos ambulantes. Sentimento de discriminação por parte dos consumidores apresentou-se como ancoragem. Conclusões. O treinamento não foi eficaz para mudar a representação e o comportamento dos manipuladores. A importância sócio-econômica deste comércio na baixada cuiabana e a condição sanitária precária no ponto de venda requerem políticas de fiscalização e intervenção educacional baseada na nova Psicologia Social. A metodologia da Problematização poderia obter mudanças positivas no comportamento e nas representações destes trabalhadores, associada às outras mudanças estruturais e regulamentais. / Introduction. The commerce of the baguncinha sandwich is typical of the metropolitan area of Cuiabá - MT. It is the source of income for many families and an alternative for dining out. The sanitary commission has structural and financial problems to over see the activity and the public health department recommends the qualification of who sells. Objective. Evaluate the effectiveness of an educative intervention in the social representation and behavioral of whom sells the baguncinha sandwich. Method. Thirty five places where the baguncinha was sold were investigated, divided into control and test groups, before and after the education intervention. It was evaluated the sanitary of the place and person manipulating the food through a check list also a microbiological analysis and internal temperature of the sandwich were done. Through a semi-structural interview data were collected about the social representation and behavioral of manipulation of the food. The speechs were treated with the collective subject discussion software and the behavioral by the parametric statistic. Results. The personal hygiene and the condition of the place were precarious. The hands of the food manipulators showed high levels of microbiological contamination. The sandwich were not fit for consumption 31,4% of the samples. The predominant problem was the wrong temperature of the storage of the ingredients. The safe firing was not reached in 84,2% of the baguncinha. The knowledge was considered medium to low. The ambulant were worried in keeping its clients and the main difficulty was the lack of infrastructure of the point of sell. As incentive to change its behavioral, a reduction of taxes and access to finance is predominant in the social representation of the ambulant. A feeling of discrimination the consumers presented themselves as anchorage. Conclusion. The training did not effective to change the representation and behavioral of the manipulators of the baguncinha sandwich. The social economical importance of the commerce in Cuiaba and the precarious sanitary conditions in the point of sell requires a harsh focalization policy and education intervention based on the Social Psychology. The Problem Solving Methodology could have some positive changes in the behavioral and in the workers representation, associated with other structural and regulation changes.

A infecção por Salmonela é a principal causa de diarréia no Brasil e os ovos contaminados e alimentos preparados a base destes, estão associados a esta ocorrência. Para avaliar as práticas adotadas pelos consumidores durante a compra, armazenamento e manipulação de ovos nos domicílios, relacionar as preparações a base destes com o risco de salmonelose e verificar a percepção da população estudada quanto aos problemas para a saúde causados pelo consumo de ovos crus e mal cozidos foi realizado um levantamento no período de março a junho de 2009, a partir do preenchimento de questionários por amostra (n=664) composta de pais de alunos de escolas de educação infantil municipais e particulares em um município paulista. Foi criado o Índice de Boas Práticas Ponderado (IBPp) e calculado através de ponderação as respostas conforme adequação. A média do consumo mensal per capita de ovos encontrada foi de 4,55. Dos participantes, 77% declarou comprar ovos em super/hipermercados, 81% relatou encontrá-los fora de refrigeração nos locais de venda. Observou-se probabilidade 2,41 vezes maior dos ovos serem comercializados mantidos sob refrigeração em locais com produção familiar. A validade foi o critério mais relevante (69,4% das citações) para a decisão de compra, 79,5% descartava ovos rachados ou quebrados, 65,1% armazenava na porta da geladeira e 43,5% não realizava procedimento de limpeza antes da sua utilização. O IBPp foi considerado médio para 59,8% e adequado para 6,5% dos participantes da pesquisa e relacionou-se positivamente ao nível de exigência no momento da compra pelo consumidor. Das preparações que oferecem risco, identificou-se o maior consumo do ovo frito com gema mole (44,5%), seguido por suflês, musses, coberturas de bolos com ovos crus (20,8%). Da população estudada, 61,3% declarou já ter relacionado algum sintoma de doença gastrointestinal com o consumo de alimento. Ainda, 27,3% relacionou a existência do risco de contaminação às condições higiênicas durante o preparo dos alimentos e estes participantes relataram consumir menos preparos com ovos crus e mal cozidos em relação aos que não tem esta percepção. É necessário que haja adequação das práticas adotadas durante a compra, armazenamento, manipulação e preparo seguro de ovos no domicílio para a diminuição do risco de infecção por Salmonella e o planejamento de programas ou ações educativas mais eficazes para a população visando orientá-la para que as práticas adotadas sejam seguras. / The infection caused by Salmonella is the main cause of diarrhea in Brazil and the contaminated food prepared with eggs are associated with this occurrence. To evaluate practices adopted by consumers concerning purchase, storage and handling of eggs and to relate the preparation of eggs consumed with the risk of salmonellosis and to verify the perception of the studied population regarding health problems caused by the consumption of raw or undercooked eggs, a survey was conducted from March to June 2009, by filling out questionnaires for sample in a city of São Paulo state (n = 664) composed by parents of students of public and private preschools. The Good Practice Weighted Index (IGPw) was created and calculated pondering the answers by adjustment. The average of monthly consumption of eggs per capita found was 4.55. From the total participants, 77% stated that their eggs came from regular supermarkets, 81% reported that they were out of refrigeration at the points of sale. There was a 2.41 times higher probability of the commercialized eggs being under proper refrigeration when sold by local merchants. The expire date criteria was more relevant (69.4% of quotations) for the decision of purchase, 79,5% didnt use cracked or broken eggs, 65,1% of costumers store their eggs in the refrigerators door and 43,5% didnt clean them before use. IGPw was considered average to 59,8% and appropriate for 6,5% of survey participants and it was related positively to the purchase requirement level used by the consumer. The preparations what offer risky identified were fried egg with runny yolk (44.5% of quotation), followed by souffles, mousses and cakes with topping prepared with raw eggs (20.8%). From the population studied, 61.3% stated already have referenced some symptoms of gastrointestinal disease related with the consumption of food. Still, 27.3% related the risk of contamination and hygienic conditions during food preparation. These participants consumed less inadequate preparations with eggs than those who didnt have that perception. Adequate practices must be adopted during the purchase, storage and handling of eggs at home in order to decrease the risk of infection by Salmonella and is necessary educational programs in order to ensure that good and safe practices will be adopted by population.

MPH / Department of Public Health

No description available.

M. Tech. (Department of Tourism and Integrated Communication, Faculty of Human Sciences), Vaal University of Technology. / Background: Food waste in the foodservice units, which include supermarket kitchens, occur due to factors related to the menu such as the lack of careful menu planning, improper procurement of the menu items, lack of menu execution and improper practices during the distribution of meals. Also, improper refrigeration and storage facilities at optimal temperatures to maintain product’s shelf life contribute to food waste in foodservice units. Food waste management is a significant challenge globally and locally. Purpose of the study: To determine the knowledge on food waste and waste prevention practices of food handlers in supermarket kitchens in Soweto. Methods: A quantitative, descriptive research design was chosen to determine the knowledge and food waste prevention practices of food handlers. The population was 11 branches of supermarkets represented by one of the five largest franchise stores in South Africa with approximately 20 to 35 food handlers employed by each supermarket (± 220 total) as indicated by management. Only three supermarkets gave permission for the study. From the population, the survey system calculator was used to calculate the sample size (n=107). Purposive sampling was used to select the supermarkets and participants were conveniently sampled. A questionnaire based on reviewed literature was developed by the researcher to determine food handlers’ knowledge on food waste. An existing observation checklist was also amended for this study. Before the observations began, the researcher was alert about the reactivity problems. Data were collected during different times of the month, and the observations were conducted at different times of the day in each supermarket to measure the behaviour that was demonstrated by food handlers in the morning and in the afternoon. Collective instances of food waste practices were observed. For this study, descriptive statistics were used (SPSS version 27) to analyse the food waste knowledge of food handlers in supermarket kitchens. Presentation of the results was in the form of graphs, tables and charts. A frequency table was used. Results: The demographic profile of the participants indicated that many participants were women (60.7%) and 39.3% were men. The results suggest that to a larger extent, the food handlers have limited or insufficient knowledge on the customer’s profiles. The general food waste knowledge results was good. However only 47.7% of the respondents agreed that food waste can led to environmental damage. The majority of the responds (61.7%) strongly agreed that careful menu planning contributes towards preventing food waste. Food handles knowledge on food storage was good. Food preparation results reflected a good level of knowledge regarding the appropriate methods of food preparation to minimise food waste. Food handlers’ knowledge results revealed that participants had a moderate (45.4%) level of knowledge of green practices. There was a high level of knowledge on waste separation (82.3%). None of the supermarkets participated in any of the compositing activities to manage food waste. The observation results revealed poor waste prevention practices as influenced by the lack of menu planning. Lastly, menu planning results indicated that staff members recognise the importance of careful menu planning (61.7 percent strongly agreed) contributing towards preventing food waste. Factors and actions that were observed on food handler’s practices were mostly correct (56.7%) and 43.3 percent of the practices were lacking during food production in the kitchen. The results of the current waste prevention practices of food handlers in supermarkets revealed the necessity to develop food handlers’ guidelines. Conclusion and recommendations: It is evident that the supermarket food handlers may not be aware of the importance of a menu as a communication tool, which has a major influence on all the aspects of the foodservice unit including food waste prevention and management. Food handlers’ level of knowledge findings on food waste did not align with practices that were observed during meals production in supermarket kitchens. The level of food handlers’ knowledge and waste prevention practices has been determined and the guidelines on food waste prevention practices for this target group has been developed as the basis for further studies.

[EN] The primary handling of food with robots calls for the development of new manipulation devices, especially when products are easily damaged and have a wide range of shapes and textures. These difficulties are even greater in the agricultural industry because the quality of the products is also checked during the manual handling process. This PhD dissertation provides solutions to these issues and helps to further introduce robotics into the handling of food. Several methods for handling food are included and analyzed, and specific solutions are proposed and then validated with prototypes. The research focuses on devices capable of adapting themselves to the shapes of the products without increasing the complexity of the mechanism. After analyzing several different solutions, the method chosen involves the use of under-actuated mechanisms, compliant mechanisms and fingers with pads filled with granular fluids. These fluids can behave as quasi-liquids or quasi-solids due to the jamming transition, which provides a soft initial grasp and can support high stresses during fast movements performed by the robot. The additive manufacturing process provides an opportunity to develop robot grippers that are lighter, simpler, more flexible and cheaper. By using this process elastic mechanisms are manufactured in a single part, which are equivalent to mechanisms with several rigid parts connected by joints. Laser sintering is employed to produce pneumatic actuators, with different types of motions, based on the elastic properties of the materials used in this manufacturing process. As a result, the systems can be simplified to achieve grippers, with several fingers, that are produced as a single part. In order to estimate the freshness and quality of agricultural products while they are being grasped, accelerometers are added to the fingers of several grippers. Accelerometers are economical and act as intrinsic tactile sensors. They can be easily embedded, thereby reducing the risk of getting damaged due to contact with the product, and allow each of the grasping phases to be identified. To achieve good performance of the accelerometers, a specific process is defined for the robot gripper, which touches the products a few times. In addition, several gripper prototypes are manufactured with diverse under-actuated mechanisms, jamming systems, and a new program that processes the signals from the accelerometers using different procedures in order to obtain parameters that can be used to estimate the quality of products. These parameters are correlated with data from destructive tests that are commonly used as a reference. The best performance of the accelerometers is achieved when the finger employs a granular fluid, a correlation coefficient of 0.937 being accomplished for the ripeness of mangoes and 0.872 for the firmness of eggplants. / [ES] La manipulación primaria de alimentos con robots precisa del desarrollo de nuevos sistemas de manipulación especialmente cuando los productos son sensibles al daño y presentan una amplia variabilidad de formas y texturas. En el sector agroalimentario las dificultades son aún mayores ya que la manipulación manual sirve además para inspeccionar los productos durante el proceso. Está tesis aporta soluciones a estos problemas facilitando la incorporación de la robótica. En la tesis se recopilan y analizan diversas soluciones para poder manipular alimentos proponiendo soluciones concretas que luego son validadas con prototipos. La investigación se centra en aquellos sistemas que son capaces de auto adaptarse a las formas de los productos sin incrementar la complejidad del mecanismo. Tras analizar diversas técnicas se propone el uso de mecanismos infra-actuados, mecanismos flexibles y dedos con fluidos granulares que, al estar encerrados dentro de una membrana, se comportan como cuasi-líquidos o cuasi-sólidos gracias a la transición jamming, permitiendo un agarre inicial suave y la posibilidad de transmitir esfuerzos elevados durante los movimientos del robot. En la búsqueda de garras más ligeras, sencillas, flexibles y económicas se aprovecha la oportunidad que brinda la tecnología de fabricación aditiva de material. Gracias a este proceso se fabrican mecanismos flexibles realizados en una única pieza y que equivalen a mecanismos de garras realizados con varias piezas rígidas unidos por articulaciones. Mediante el sinterizado por láser, se fabrican actuadores neumáticos, con diversos tipos de movimiento, basados en la flexibilidad del material empleado en su fabricación. En conjunto se simplifican los sistemas llegando a realizar garras flexibles de varios dedos fabricadas en una única pieza. Para evaluar la calidad y frescura de los productos agroalimentarios durante el agarre se emplean acelerómetros localizados en los dedos de varias garras. Los acelerómetros son económicos y se comportan como sensores táctiles intrínsecos, están fuera del contacto directo con el producto evitando desgastes por contacto y permiten identificar las distintas fases de agarre. Para lograr esto se desarrolla un proceso específico del robot con la garra, que palpa varias veces el producto. Se fabrican diversos tipos de garra con distintas tecnologías de mecanismos infra-actuados y sistemas jamming y se programa un algoritmo original de procesado de señal que con diversas técnicas es capaz de extraer parámetros de los acelerómetros que sirven para evaluar la calidad de los productos. Estos parámetros son correlacionados con los datos de ensayos destructivos que son habitualmente empleados como referencia. Las mejores capacidades se consiguen empleando garras con jamming lográndose coeficientes de correlación de 0.937 en índices de madurez con mangos y 0.872 en firmeza de berenjenas. / [CA] La manipulació primària d'aliments amb robots precisa del desenvolupament de nous sistemes de manipulació especialment quan els productes són sensibles al dany i presenten una àmplia variabilitat de formes i textures. En el sector agroalimentari les dificultats són encara més grans ja que la manipulació manual serveix a més per a inspeccionar els productes durant el procés. Aquesta tesi aporta solucions a aquests problemes facilitant la incorporació de la robòtica. En la tesi es recopilen i analitzen diverses solucions per a poder manipular aliments proposant solucions concretes que després són validades amb prototips. La investigació es centra en aquells sistemes que són capaços d'auto adaptar-se a la forma dels productes sense incrementar la complexitat del mecanisme. Després d'analitzar diverses tècniques es proposa l'ús de mecanismes infra-actuats, mecanismes flexibles i dits amb fluids granulars que, tancats dins d'una membrana, es comporten com quasi-líquids o quasi-sòlids gràcies a la transició jamming, permetent una prensió inicial suau i la possibilitat de transmetre esforços elevats durant els moviments del robot. En la recerca d'urpes més lleugeres, senzilles, flexibles i econòmiques s'aprofita l'oportunitat que brinda la tecnologia de fabricació additiva de material. Gràcies a aquest procés es fabriquen mecanismes flexibles realitzats en una única peça i que equivalen a mecanismes d'urpes realitzats amb diverses peces rígides unides per articulacions. Mitjançant el sinteritzat per làser, es fabriquen actuadors pneumàtics, amb diversos tipus de moviment, basats en la flexibilitat del material emprat en la seva fabricació. En conjunt es simplifiquen els sistemes arribant a realitzar urpes flexibles de diversos dits fabricades en una única peça. Per a avaluar la qualitat i frescor dels productes agroalimentaris durant la manipulació s'empren acceleròmetres localitzats en els dits de diverses urpes. Els acceleròmetres són econòmics i es comporten com a sensors tàctils intrínsecs, sense estar en contacte directe amb el producte evitant desgastos per aquest motiu, i permeten identificar les diferents fases d'prensió. Per aconseguir això es desenvolupa un procés específic del robot amb l'urpa, que palpa diverses vegades el producte. Es fabriquen diversos tipus d'urpa amb diferents tecnologies de mecanismes infra-actuats i sistemes jamming i es programa un algoritme original de processat de senyal que, amb diverses tècniques, és capaç d'extreure paràmetres dels acceleròmetres que serveixen per a avaluar la qualitat dels productes. Aquests paràmetres són correlacionats amb les dades d'assajos destructius que són habitualment emprats com a referència. Les millors capacitats s'aconsegueixen emprant urpes amb jamming assolint-se coeficients de correlació de 0,937 en índexs de maduresa amb mangos i 0,872 en fermesa d'albergínies. / Blanes Campos, C. (2016). Garras con sensores táctiles intrínsecos para manipular alimentos con robots [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/68481