Abstract
In this paper, a measurement method of incipient slip is proposed for human grasping motion analysis. A measurement system which has a built-in camera and a built-in omnidirectional mirror, is used to capture palm images during grasping motion. The incipient slip distribution is analyzed in some experimental conditions which are different weight and different cylinder size. Experimental results show that the incipient slip distribution has a bias. We discuss about the relationship between the bias of the incipient slip distribution and the somatic characteristics.
