Pre-sliding detection in robot hand grasping based on slip-tactile sensor

Tactile sensor provides plenty of critical information vision sensor can´t offer, such as force or vibration. In robot grasping task, pre-sliding detection is critical to grasp object steadily and safely. In this paper, a flexible slip-tactile sensor for a dexterous robot hand and a corresponding decouple algorithm aiming at the sensor are presented. The sensor is designed to be integrated in the surface of robot as e-skin, which can detect normal force and tangential force simultaneously. The main components of slip-tactile sensor consist of arbon black (CB), graphene nanoplatelets (GNPs) and PDMS. Additionally, the simplified decouple algorithm is embedded into the CPU, which makes the designed sensor capable to detect the pre-sliding with the help of the contact model dynamically. The manufacture and construction of the sensor and the decouple algorithm will be explained firstly, the contact model and the results will be discussed next.