The invention relates to a method and a device for measuring the firmness of objects (9), such as fruits or vegetables, in which: a feeler (14) is brought into contact with an object; an accelerometer (30) delivers acceleration signals; a bidirectional motor device (4) positively drives a feeler-bearing contact arm (21) forwards (71) and backwards (72); and, upon detection of acceleration signals having an absolute value above a pre-determined threshold value, known as the stop threshold, the motor device is moved backwards. The invention is suitable for an object conveyor.
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