This study deals with the development of a nondestructive impedance spectroscopic technique that mayassess the conditions of the fruits to pluck them with the help of robotic arms. Preliminary investigations aremade with the help of two-terminal probe and an accurate LCR meter. The bulk impedance of mango hasbeen measured to characterise raw and ripe fruits. Effective resistance and effective capacitance vs. frequencycharacteristics have been determined. The bulk effective resistances, of the ripe fruits, are found to be morethan those of the raw fruits, in the frequency range of 1–6 kHz. In the same frequency range, effectivecapacitances of the raw fruits are found more than those of the ripe fruits. In the light of the data obtained, itcan be said that the effective resistance may be used to differentiate between raw and ripe fruits in thefrequency range of 1–6 kHz