The article presents a study on improving slip detection in robotic manipulation. It focuses on the macroscopic deformation of the fingertip’s soft structure and its role as a vibration medium for sensing. The proposed method uses vibration injection into the soft structure to magnify the microscopic incipient slip phenomena. The method’s effectiveness was tested on stick-ratio estimation and stick-ratio stabilization control during incipient slip. The results showed significant improvement over conventional methods.
Publication date: 20 Feb 2024
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2402.11879
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