Slippage Detection

(Also some related work under Texture Sensing and Display)

(under construction)

Slippage detection is essential for handling objects securely and is an important component of tactile exploration, sliding the fingers over surfaces to determine their texture. Early work on robotic slippage sensors generally involved elements such as a small roller [?] or stylus or "fingernail" [Buttazzo86] that produced a signal when a surface was moved past the fingertip. Today, the more reliable and more robust version of the same technology would involve an optical mouse. However, all such approaches require finite motion of the surface with respect to the finger.

Physiologists studying human mechanoreception have demonstrated that the human grasp response is mediated by the sensation of "incipient slips" that precede gross slippage between a grasped object and the hand [Johansson84].

[Yamata02] has most recently developed an artificial skin with PVDF transducers embedded in order to detect incipient slip. Their transducers are also able to distinguish between rolling and slip.

It also seems that some Japanese researchers have been using strain measurements to detect slip, [Shinoda00], [Maeno98]

References

• HoweCutkosky89.pdf: Howe, R.D. and Cutkosky, M.R., "Sensing Skin Acceleration for Slip and Texture Perception," proceedings IEEE ICRA, 1989
• Buttazzo, G., Dario, P. and Bajcsy, R., "Finger based explorations," in D. Casasent, ed., Intelligent Robots and Computer Vision, p. 338-345, proc. SPIE, vol. 726, Cambridge, Oct. 28-31, 1986.
• Johansson, R., and Westling, G., Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects," Exp. Brain Research, 56:550-564, 1984.

• Yamada02: Yamada, Y.,"Identification of Incipient Slip Phenomena Based on The Circuit Output Signals of PVDF Film Strips Embedded in Artificial Finger Ridges", Proc. SICE Annual Conf. 2002, pp. 3272-3277

This one is not REALLY related- but they use visual/camera techniques to detect slip and control a robot gripper.

• Ikeda04: "Grip Force Control for an Elastic Finger using Vision-based Incipient Slip Feedback", Proceedings of 2004 IEEEMSJ International Conference on Intelligent Robots and Systems September 28 - October 2,2004, Sendai, Japan

• Shinoda00: "Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor", Proceedings of the 2000 IEEE International Conference on Robotics & Automation San Francisco, CA April 2000

• Maeno98: "Analysis and Design of a Tactile Sensor Detecting Strain Distribution Inside an Elastic Finger", Proc. IEEE/RSJ Int. Conf: Intelligent Robots and Systems, 1658-1 663, 1998.

• Son94: Jae Son, Eduardo A. Monteverde, Rob Howe, "A Tactile Sensor for Localizing Transient Events in Manipulation",