Systems and methods for providing contact detection in an articulated arm

A programmable motion system for grasping and moving objects, said programmable motion system comprising:

• a deformable vacuum end-effector coupled to a distal end of an articulated arm and in communication with a vacuum source;
• a movement detection system for providing information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm in at least two degrees of freedom, and
• a controller for determining, responsive to the information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm whether the deformable vacuum end-effector has made contact with an object to be grasped.

A programmable motion system for grasping and moving objects, said programmable motion system comprising:

• a deformable vacuum end-effector coupled to a distal end of an articulated arm and in communication with a vacuum source;
• a movement detection system for providing information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm in at least two degrees of freedom, and
• a controller for determining, responsive to the information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm whether a grasp on an object by the deformable vacuum end-effector needs to be adjusted.

A programmable motion system for grasping and moving objects, said programmable motion system comprising:

• a deformable vacuum end-effector coupled to a distal end of an articulated arm and in communication with a vacuum source;
• a movement detection system for providing information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm in at least two degrees of freedom, and
• a controller for determining, responsive to the information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm whether an object grasped by the deformable vacuum end-effector is oscillating.