Internal representation of slip for a soft finger with vision and tactile sensors

To build an adaptive autonomous robot, it must have a certain number of external sensors to observe the environment. One physical phenomenon is observed as sensor signals flow through these sensors. In this paper, we focus on a "slip" phenomenon and try to build a network representation of slip of an anthropomorphic robot hand. A robot hand with distributed tactile sensors and a vision sensor is built to demonstrate how it acquires the representation of "slip". At the beginning of leaning, only the vision sensor can sense the slip as the movement of target, but after a while the tactile sensors can sense the slip even if it is so small that the vision sensor cannot sense it.