  We present a proprioceptive teleoperation system that uses a reflexive
grasping algorithm to enhance the speed and robustness of pick-and-place tasks.
The system consists of two manipulators that use quasi-direct-drive actuation
to provide highly transparent force feedback. The end-effector has bimodal
force sensors that measure 3-axis force information and 2-dimensional contact
location. This information is used for anti-slip and re-grasping reflexes. When
the user makes contact with the desired object, the re-grasping reflex aligns
the gripper fingers with antipodal points on the object to maximize the grasp
stability. The reflex takes only 150ms to correct for inaccurate grasps chosen
by the user, so the user's motion is only minimally disturbed by the execution
of the re-grasp. Once antipodal contact is established, the anti-slip reflex
ensures that the gripper applies enough normal force to prevent the object from
slipping out of the grasp. The combination of proprioceptive manipulators and
reflexive grasping allows the user to complete teleoperated tasks with
precision at high speed.
