Systems and methods for operating an end effector

A device comprising:

• an end effector comprising:
• a first jaw;
• a second jaw;
• a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force;
• and
• a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force, the second actuation mechanism being different from the first actuation mechanism;
• and
• a processor configured to:
• actuate, using the first actuation mechanism, the first jaw and the second jaw to grasp a material at the first force;
• measure a separation between the first jaw and the second jaw while grasping the material with the first force;
• and
• determine, based on the measured separation, a prediction of success or failure in clamping the material at the second force using the second actuation mechanism.