Brazil, a leading global orange producer, relies heavily on manual labor for harvesting, posing significant health risks to workers who carry heavy fruit bags. This study aims to improve working conditions in Brazilian orange harvesting through Activity Ergonomics (AE) analysis. Conducted by a multidisciplinary team from May to November 2023, the research involved a literature review, fieldwork, and prototype design and testing. Fieldwork included observing work situations, interviewing stakeholders, and testing prototypes, with worker feedback guiding tool development. The study identified critical issues such as biomechanical stressors during various harvesting activities. Innovations included a duct system for ladder harvesting and a compact unicycle for horizontal transportation. These tools, tested in real work scenarios, demonstrated the potential to reduce occupational hazards and enhance productivity. The iterative design process, informed by continuous stakeholder feedback, highlighted the importance of interdisciplinary collaboration and user-centered design. This research contributes to agricultural ergonomics by addressing productivity and worker health, underscoring the need for sustainable solutions in labor-intensive industries. Despite limitations in testing diverse terrains and worker profiles, the findings set a precedent for future initiatives to improve working conditions in agriculture. Further research is recommended to expand testing and refine the developed prototypes.