Slip detection is a essential and important function for dexterous manipulation. Many slip sensors have been proposed. However, many robotic hands have no slip sensor on their fingertips. We have proposed the slip detection method with 6-axis force torque sensor. This method detects a slip along only a fingertip. In this paper, we expand this method to detect a slip along a fingertip and a circumferential direction of the finger. Some experimental results confirm that the method is able to detect slips independently of slip directions, velocities and pressing forces.
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