In our research group, we are developing a signal processing system for a compact sized and high speed slip detective sensor.We found that it is difficult to tell initial slipping from shaped normal force charging with the traditional processing method by DWT(db2). But the raw signal of initial slipping is obviously different from the signal of a shaped normal force charging. So we differentiated the slip detection sensor's output to determine either the shaped normal force is charging or the tangential force is charging. As a result, we improved the accuracy of slip detection. I will report about that in this paper.
