I have this one:
Fruit Picker - Lee Valley Tools

[no affiliation]

I use it for the two pear trees I have in by backyard. Pros are that it's cheap, and relatively easy to use. Cons are that you have to provide your own pole and it can be tiring to use after a while. You need to bring it down to get the fruit out of the bag since it gets heavy.

The pole I use is an extendable one that was meant to use with a paint roller. I had to duct tape around the connection because it was coming lose.

It is light weight and would be able to harvest a large variety a fruit. The minimum size would be larger than the space between the fingers and the max would be whatever you can fit through the top.