Using a Piezo-Resistive Tactile Sensor for Detection of Incipient Slippage

The detection of incipient slip is an important cornerstone in tactile based grasping. In this paper, we present an approach to detect incipient slip using a fast piezo-resistive, yet static tactile sensor pad. Our approach renders special slip sensors obsolete and therefore enables static and dynamic sensing with one sensing mechanism. For the detection of the slip, a fast fourier transform is used to pre-process the data. In a subsequent step, a standard artificial neural net is trained on the data from the frequency domain to detect slippage, as well as to discriminate different surface textures.