Identification of Incipient Slip Phenomena Based on the Circuit Output Signals of PVDF Film Strips Embedded in Artificial Finger Ridges

摘要

This paper deals with development of compliant artificial ringer skin surface ridges with a pair of PVDF film strips embedded in each of them as sensing transducers for incipient slip detection in pursuit of elucidating the mechanism of human static friction sensing. We describe design and manufacture of the surface ridges and distinctive detection of incipient slip from rolling.