Slip detection by array-type pressure sensor for a grasp task

This paper proposes a useful method to detect the incipient slip by using array-type pressure sensors planted into the soft skin of the fingertip based on the vibration power of the pressure center. In order to use the same threshold value to judge the incipient slip in different grasping forces, a weight coefficient is identified by experiments and it is used in the proposed slip-judge function. Experimental results show that the incipient slip can be detected by using the same threshold value under conditions of different material objects, different slipping speeds and different grasping forces. In addition, the slip detection method was proved to be repeatable by many experiments in the same conditions.