Slippage degree estimation for dexterous handling of vision-based tactile sensor

In this paper, we propose a new slippage degree estimation method, where the vision-based tactile sensor was used to measure multi-dimensional force and moment in contact with an object. We proposed a new method using a reference image to obtain the stick ratio. The reference image is defined as previous image from which the grasped object moves a certain distance while updating the images. We show that the proposed method can be successfully applied to the following situations, after the macroscopic slippage occurs, the moving direction of the grasped object changes, or a moment is applied.