Tactile Feedback and Slip Detection During Grasping

Catching a slipping object before it actually falls depends on noticing very subtle signals, fast.

Slip detection identifies the earliest signs that a grasped object is starting to move within the gripper's grip — before it fully slips out — using tactile or force sensors at the contact points.

What the signal actually looks like

Incipient slip often shows up as small, high-frequency vibrations or shear-force changes at the contact surface, distinct from the steady force pattern of a secure, stationary grip — subtle enough that it typically requires dedicated tactile sensors rather than inference from joint torque alone.

What happens after detection

Once slip is detected, a controller can respond by increasing grip force, adjusting the hand's orientation, or repositioning fingers — all within a very tight time window, since slip tends to accelerate quickly once it begins. This closed-loop grip adjustment is a major reason tactile sensing at the fingertips is prioritized even on hands that lack broader tactile coverage.