METHOD AND APPARATUS FOR CONTROL OF ROBOTIC GRIP OR FOR ACTIVATING CONTRAST-BASED NAVIGATION

A sensing device and method for determining the proximity and lateral movement of a second object relative to a first object. To determine proximity and lateral movement, the second object is illuminated to create light contrasts on that second object that correspond to unique structural and/or printed features of that second object. Light contrast data is compared to reference data to determine proximity and lateral movement of the second object relative to the first object. The invention typically utilizes an illumination source, imaging optics, and a sensor array mounted to the first object. This invention can be used in the end-effectors of a robotic arm to manage handling of a payload. It can also be used as a contact sensor to gate the operation of a manual scanning device when the scanner is brought into contact with the surface of a document.