Artificial sense of slip - A review

Slip sensing is important in robotic dexterousmanipulation and in advanced upper limb prosthetics becauseit provides useful information for conveniently adapting manipulationforces. In this paper the physical phenomena involved inslip occurrence are briefly examined, as well as the physiologicalbases of the human “sense of slip.” Transduction principles andtechnological approaches, exploited over the years for reproducingthe “artificial sense of slip,” are analyzed, with the final aimof identifying the most relevant open issues, as well as researchtrends.