Shape-Memory Effector Assemblies with Object Engagement Feedback

An effector system includes: a first segment having a first conduit; a suction cup affixed to the first segment, the suction cup including (i) an outlet in communication with the first conduit, (ii) a deformable body having an engagement surface configured to contact a target object, and (iii) a pressure sensor disposed on the body between the outlet and the engagement surface, the pressure sensor configured to generate sensor data indicating pressure resulting from deformation of the body against the target object; a vacuum source configured to apply a vacuum at the outlet via the first conduit; and a controller configured to determine, based on the sensor data, whether the suction cup is engaged with the target object.