Object-slip detection during manipulation using a derived force vector

Abstract The minimisation of grip forces during automatic manipulation, while maintaining a stable grip, requires the controlling device to be able to detect if the held object is slipping from the grasp. An algorithm, which is rapidly executable upon the controlling microprocessor, has been devised to use the changes in the contact forces between the object and the gripper to detect when this occurs. Though developed for use with an anthropomorphic hand prosthesis, the method has a wider field of application.