Pilot Study: Experimental Analysis of PVDF Sensors Response to Slippage

One of the most important actions in dexterous object manipulation is preventing slippage. Most robotic hands still lack the sense of touch and fail to perceive actions like object slippage. Utilizing a distributed tactile sensing system is crucial for achieving a stable grasp and preventing slippage. This paper presents a tactile sensing system based on PVDF sensors for slippage detection. Frequency analysis was performed to analyze the behavior of PVDF sensors to contact actions including sliding. Results illustrated the efficacy of the sensing system in detecting slippage paving the way for efficient object manipulation.