Systems and methods for providing contact detection in an articulated arm

A method of grasping and moving objects, said method comprising:

• providing vacuum to an end-effector coupled to a programmable motion system, said end-effector including a compliant portion;
• contacting an object with the compliant portion of the end-effector such that the compliant portion changes shape;
• grasping and lifting the object by the compliant portion of the end-effector;
• providing information from a movement detection system regarding movement of the compliant portion with respect to the programmable motion system in at least two degrees of freedom;
• and
• determining, responsive to the information regarding movement of the end-effector with respect to the programmable motion system whether the vacuum provided at the end-effector on the object is sufficient for continued grasp and transport.