Estimation of the Slip Motion by the Force Measurement with Multi-Fingered Robot Hand

Abstract When human handles objects, he actively uses slip motion at grasping points in addition to the hand’s and arm’s motion. Therefore, we think that some skillful and dexterous manipulations can be achieved with slip motion compensating a limitation of DOF of a manipulation system. Slip detection is indispensable for these dexterous manipulation with slip motion. Therefore we propose a way to detect a slip motion using a conventional force sensor attached on a fingertip. We focus on a frequency band caused by slip motion that is dependent on a natural frequency of a finger system. We show the effectiveness of the proposed way with numerical simulation results and experimental results using a whole manipulation system.