Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits a resistance change of the pressure conductive rubber. This sensor distinguishes between both contact and initial slip by using a complicated resistance change just before slippage of object is generated. In this study, we evaluate the stability of the output in the case of differing initial normal forces and changing surface properties of an object. Finally, we describe an experiment on adjustment of the gripping force by a multi-fingered robot hand.
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