The present invention provides an end-effector (400) for a robotic arm in which a membrane (430) is inflatable to grasp an object. The end-effector comprises an internal volume (414) for receiving said object to be picked and the flexible membrane (430) within the internal volume. The membrane defines an aperture and an inflatable volume, and is configurable to increase the inflatable volume from an uninflated configuration to an inflated grasping configuration to thereby narrow the aperture and permit an object within the internal volume to be grasped. The present inventors have identified that by using an inflatable membrane to grasp a fruit or vegetable to be picked, swift picking and short cycle times can be achieved without damaging the vulnerable fleshy part of the fruit. The invention has particular application for the picking of soft fruits such as berries, e.g. raspberries, which are especially susceptible to damage.