Abstract: A vision system and proximity detector is provided in the form of an occluding mask with multiple high aspect light pathways positioned over a light detecting surface. Pixel-based images can be generated to provide a vision system utilizing a variety of illumination modes. Proximity can be measured with a triangulating beam.

Abstract: It is the purpose of this invention to provide a method and apparatus for a compliance control in each degree of freedom of a robotic system independently of other control parameters. This independent compliance control capability allows dexterous assembly operations to be done without elaborate fixture of a work piece. The method of controlling compliance and position of an actuator comprises the steps of acquiring a raw Myoelectric signal from the muscles of a teleoperator, processing the raw Myoelectric signal into compliance control and position control signals and applying the control signal to an actuator(s) of the teleoperated robotic system.