Slip detecting by tactile sensor using Acoustic Resonant Tensor Cell and its application for grasping.

This paper describes a slip sensor using Acoustic Resonant Tensor Cell (ARTC) . This slip sensor is made smaller than previous researches. We conducted a finite element method simulation to ensure the hypothesis of slip detection. Then we propose how to feedback the slip information to grasping force. Furthermore its performance of slip detection is shown through experiments for evalueation.