System and method for sorting and/or packing items

An item packing system 100 configured to sort and/or pack items such as fruit and vegetables 132 into item containers 142 comprises a robotic arm 110, at least one end effector 120 for holding and manipulating an item 132 to be sorted and/or packed and which comprises a pressure sensing assembly which may comprise a plurality of contact points on a digit 121, 122, 123. A controller (160 2a) receives sensor signals from the pressure sensing assembly to obtain indications of the magnitude and direction of contact pressure for contact between the end effector 120 and the item 132 held by the end effector and determines whether the end effector 120 is correctly holding the item 132 based on the indications. Also disclosed is an apparatus for sorting items comprising a hopper 104 for receiving items 132, a chute for receiving one item, the chute having a first open end for receiving an item 132 from the hopper 104 and a second open end configured to release the item to a dispenser; wherein the chute comprises a camera and a rotating means such as rollers to rotate the item 132 in the chute in front of the camera to enable the camera to obtain a plurality of different images of the item 132 before the item is released to the dispenser.