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 figure 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. The system 100 also comprises a camera 161, 162 used to provide an indication of at least one of the location and the size of the item 132 to be sorted and/or packed and the system 100 moves the robotic arm 110 and controls the end effector 120 to pick up the item 132 based on the indication provided by the camera 161, 162.