Method for Error-Proofing a Reconfigurable Clamp

A reconfigurable clamp selectively operated by an actuator for holding and releasing an object having a contour between the clamp and a clamping device, the clamp comprising:

• a clamp body, a locking member, a plurality of pins selectively moveable with respect to the body for contacting an object, and a plunger selectively moveable with respect to the pins, with respect to the locking member, and with respect to the body between a fully-extended position and a fully-depressed position for urging the locking member against at least one of the pins;
• wherein a sensor is positioned on the actuator and arranged to sense whether the plunger achieves the fully-depressed position when a force is applied to the plunger, and to sense whether the plunger achieves the fully-extended position when the force on the plunger is released for error-proofing the clamp.