Abstract
To prevent the robot from dropping the object, the tactile sensor which detects not only the contact position and force but also slip sense is necessary. In this study, it aims to detect a slip with the Center of Pressure (CoP) tactile sensor. This sensor can install in the robot hand, and has the feature of flexibility, thinly, and lightness. CoP tactile sensor can measure center position of distributed load and total load. In addition, we show that CoP tactile sensor can detect the tangential force and describe the influence of the coating material used for the sensor surface protection.
