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Tactile sensing provides critical information, such as force, texture, shape or temperature, in manipulation tasks. In particular, tactile sensors traditionally used in robotics are emphasized in contact force determination for grasping control and object recognition. Nevertheless, 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 deal with simplicity, analyzing how a novel, but simple, algorithm, based on micro-vibration detection, can be used in a simple, but low-cost and durable, force sensor. We also analyze the results of using the same principle to detect slipping in other force sensors based on flexible parts. In particular, we show and compare the slip detection with: (i) a flexible finger, designed by the authors, acting as a force sensor; (ii) the finger torque sensor of a commercial robotic hand; (iii) a commercial six-axis force sensor mounted on the wrist of a robot; and (iv) a fingertip piezoresistive matrix sensor.

Micro-Vibration-Based Slip Detection in Tactile Force Sensors