Acquisition of Slip Phenomenon between Developed Distributed-Type Force Sensor and the Contacted Object

This paper describes output algorithms to evaluate slip, using our developed distributed-type force sensor. To realize advanced manipulation, it is necessary to acquire the forces and moments applied to the fingertips of the robot hand, and to evaluate the slip between the contacted object and the sensor. The algorithms continuously detect translational micro- and macro-slip. Micro-slip is detected from vibration information output by strain gauges attached to the surface of each sensor element, while macro-slip is detected as movement of the center of pressure distribution. The experiments demonstrate the effectiveness of this algorithm