Special Issue: Modern Sensing Technologies

Vol. 90, April 2008, pp. 310-324

Slip Prediction through Tactile Sensing

¹Somrak PETCHARTEE and ²Gareth MONKMAN

¹Technik Autonomer System, Universität der Bundeswehr, Germany

²Mechatronics Research Unit, Fachhochschule Regensburg, Germany

E-mail: somrak.petchartee@gmail.com

 Received: 15 October 2007   /Accepted: 20 February 2008   /Published: 15 April 2008

Abstract: This paper introduces a new way to predict contact slip using a resistive tactile sensor. The prototype sensor can be used to provide intrinsic information relating to geometrical features situated on the surface of grasped objects. Information along the gripper finger surface is obtained with a measurement resolution dependant on the number of discrete tactile elements. The tactile sensor predicts the partial slip of a tactile surface by sensing micro vibrations in tangential forces which are caused by an expansion of the slip regions within the contact area. The location of the local slip is not specified but its occurrence can be predicted immediately following micro vibration detection. Predictive models have been used to develop a set of rules which predict the slip based on fluctuations in tactile signal data.

Keywords: Slip prediction, Pre-slip sensing, Tactile sensor, Minimum grasping force

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