Slip Detection in Robotic Gripper Using Stretchable, Soft Multi-Axial Sensor

Abstract

Despite significant advances in tactile sensing and slip detection for robotic grippers, the development of a fully stretchable sensor remains a challenge. Conventional sensors, though flexible, often fail to maintain consistent contact and provide accurate feedback, limiting their effectiveness in detecting subtle changes in shear forces that indicate slip. To address this, we propose a multi-axis stretchable sensor based on an ionic liquid/polymer network with integrated carbon nanotube (CNT)-based stretchable electrodes. This sensor demonstrates enhanced adaptability, mimicking the skin-like flexibility of human touch, and can measure both normal and shear forces by detecting deformation-induced changes in electrical resistance. Validation experiments reveal the sensor's ability to detect and characterize slip events under varying levels, surfaces, and speed. This study highlights the transformative potential of stretchable tactile sensors for gripping force measurement and slip detection, paving the way for more adaptive and reliable robotic grippers. With applications ranging from automated manufacturing to service robotics, this technology represents a significant advancement in replicating human-like sensory feedback for robotic systems.

Keywords: Tactile sensor, shear force sensor, slip detection, robotic gripper, stretchable sensor