Slip Detection in a Novel Tactile Force Sensor

Tactile sensing improves the manipulation and grasping of unknown objects. It contributes to increase the knowledge of the environment and provides useful information to improve grasping control. The sensors traditionally used for tactile sensing emphasize in grasping object shape and force detection. However slip detection is also crucial to successfully manipulate an object. Several approaches have appeared to detect slipping, the majority being a combination of complex sensors with complex algorithms. In this paper, we present a simple, lowcost and durable tactile force sensor and its use to slip detection via a simple but effective method based on micro-vibration detection. We also analyze the results of using the same principle to detect slip in other force sensors based on flexible parts. In particular, we also show the slip detection with: a flexible finger (designed by the authors) acting as a force sensor, the finger torque sensor of a commercial robotic hand (Barrett Hand), and a commercial 6-axis force sensor mounted in the wrist of a robot.