Artificial Sense of Slip—A Review

摘要

Slip sensing is important in robotic dexterous manipulation and in advanced upper limb prosthetics because it provides useful information for conveniently adapting manipulation forces. In this paper the physical phenomena involved in slip occurrence are briefly examined, as well as the physiological bases of the human “sense of slip.” Transduction principles and technological approaches, exploited over the years for reproducing the “artificial sense of slip,” are analyzed, with the final aim of identifying the most relevant open issues, as well as research trends.