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This paper presents a tactile sensor that provides transient event information at the finger-object interface. The multi-element stress rate sensor consists of piezoelectric polymer strips moulded into the surface of the rubber "skin" covering the robot finger tip. These piezoelectric elements provide localized information important to manipulation control. We provide experimental results confirming the sensor's ability to detect three parameters. Contact events have been detected for signaling transitions between position and force control. Detecting local skin curvature provided information regarding contact shape and area. Finally, incipient slip, which is generated by small micro slips prior to gross slip, has been detected. By sensing all of these parameters, the utility of the multi-element stress rate sensor seems promising.>
Son et al. (2002) studied this question.