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Reactive Grasping Using Optical Proximity Sensors Kaijen Hsiao, Paul Nangeroni, Manfred Huber, Ashutosh Saxena, Andrew Y Ng Abstract— We propose a system for improving grasping using ﬁngertip optical proximity sensors that allows us to perform online grasp adjustments to an initial grasp point without requiring premature object contact or regrasping strategies. (They are equal to 90◦ when the object surface is parallel to the ﬁnger surface.) One of the major challenges in the use of optical sensors is that intrinsic surface properties (such as reﬂectivity, diffusivity, etc.) cause the relationship between the raw sensor signal and the surface pose to vary signiﬁcantly across different surface types.
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