Estimating friction using incipient slip sensing during a manipulation task

A scheme is presented by which a manipulator can use dynamic tactile sensing to detect when it is about to lose hold of a grasped object. By detecting localized slips on the gripping surface which precede gross slip, the controller can modify the grasp force to prevent the object from slipping. Also, by monitoring normal and tangential forces at the contact when these incipient slip signals occur, the controller obtains an accurate estimate of the friction coefficient which can then be used during the manipulation task. Accurate knowledge of the friction coefficient is essential when grasping fragile objects or manipulating with sliding