Abstract: An apparatus for subcortical injection of a substance into a plant includes a body, a first force sensor measuring bearing force of the apparatus on the plant, a hollow needle to penetrate the plant, a reservoir communicating with the needle and containing the substance, a first actuator moving the needle to insert it into the plant, a second force sensor measuring the force of insertion of the needle, a second actuator compressing the substance in the reservoir, a third actuator measuring pressurization force of the substance, and a microcontroller activating the first actuator only if the first force sensor detects a bearing force, modulating the activation of the first actuator, and thus the injection of the needle into the plant, depending on the measured insertion force, and which modulates compression in the reservoir, and thus injection into the plant, depending on the force measured by the third force sensor.

Abstract: An apparatus for subcortical injection of a substance into a plant includes a body, a first force sensor measuring bearing force of the apparatus on the plant, a hollow needle to penetrate the plant, a reservoir communicating with the needle and containing the substance, a first actuator moving the needle to insert it into the plant, a second force sensor measuring the force of insertion of the needle, a second actuator compressing the substance in the reservoir, a third actuator measuring pressurization force of the substance, and a microcontroller activating the first actuator only if the first force sensor detects a bearing force, modulating the activation of the first actuator, and thus the injection of the needle into the plant, depending on the measured insertion force, and which modulates compression in the reservoir, and thus injection into the plant, depending on the force measured by the third force sensor.