Abstract
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have developed flexible, thin and lightweight center of pressure (CoP) sensor. The sensor, constructed of pressure conductive rubber sandwiched between two sheets of conductive film, is able to detect the center position of the load distribution and the total load. Recently, detection of initial slip has been shown to be possible. However the detection principles are unclear. In this paper, we will discuss the slip detection principle of CoP sensor and the properties.
