Proceeding of the 2015 IEEE
International Conference on Information and Automation
Lijiang, China, August 2015
A Simple Method for Slip Detection of Prosthetic Hand
Bei Yang
College of mechanical and engineering
Central South University
Changsha, Hunan Province, China
Abstract - To achieve a human like grasping with a
multifingered robot hand, the grasping force should be controlled
without using information from the grasped object such as its
weight and friction coefficient. In this study, we describe an
experiment focusing on the consistency of slip detection of a
prosthetic hand equipped with a force sensing resistor (FSR)
which can capture force variations during the slip of grasped
object. A method for detecting the slip of a grasped object using
the discrete wavelet transform (DWT) of the high frequency
signal output of FSR was proposed. The effectiveness of the
proposed method was confirmed in tests of slip detection during
grasping. Moreover, the test results indicated that the hardness
and mass of the object and disturbing force have very limited
impact on the slipping patterns. Finally, a simple model was
proposed to obtain the decline value of grasping force by using
the results from DWT. This model can also be used as a method
for slip detection.
Index Terms - Prosthetic hand; Slip detection; Force sensing
resistor; Discrete wavelet transform.
I. INTRODUCTION
The problem of measuring and exploiting the slippage
during the interaction of a robotic device with its environment
has always attracted considerable interest from the robotic
community. In order for robots to achieve the same level of
precision in manual operation that humans achieve, many
researchers are working on highly versatile, multi-fingered
robot hands that offer a high degree of freedom. A typical
operation of hands is grasping objects. Stabilizing the grasp is
very significant for proper functionality of prosthetic hand.
The human skin is the organ with the largest surface area on
the human body. One of the main tasks of the human skin is
the perception of mechanical contacts of the body’s surface
with the environment [1], and therefore human hand can feel
slipping immediately when grasping object, in order to grasp
objects stably it will increase appropriate force to prevent
slipping spontaneously. However, unlike human hand, there is
no feeling in prosthetic hand, since each grasped object has a
different coefficient of friction and weight, to achieve human-
like grasping, it is necessary to set the grasping force
appropriately for each object without being aware of this data
in advance. Moreover, in order to grasp objects without
damaging them, it is desirable to grasp them with the
minimum force without slip. In such a case, the research about
slip detection of prosthetic hand is necessary to provide
compliance and help to stabilize the grasp.
The tactile sensors are by no means new to the fild of
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to: Universita
Xiaogang Duan* and Hua Deng
College of mechanical and engineering
Central South University
Changsha, Hunan Province, China
xgduan@csu.edu.cn
prosthetic hand and a number of tactile sensors have been
developed [1-4]. As demonstrated in [3] and [4], the use of
acoustic emission signal was proposed as a tactile sensor.
Then, some works [1, 5-8] proposed tactile sensors based on
accelerometers which were properly placed in elastic materials
that started vibrating when slip begins. However, this method
is vulnerable due to environmental vibrations and to vibrations
generated during multifinger manipulation (joint vibration and
cross-sensor noise) [9]. Several tactile sensors were developed
in [10~18] to detect slippage by using the estimated value of
friction coefficient. Nevertheless, they do not appear to be
particularly useful, since they essentially measure slippage
when it already occurred. While embedded distributed PVDF
films as tactile sensors were proposed in literature [9] and
[19]. However, accuracy of the tactile sensors for detecting the
global sliding slippage is not high enough [9]. Therefore, on
one hand, there are many industrial applications in which
tactile sensors are not suitable since the overall sensorial
system is very complex and, actually, hard to use. On the other
hand, one major limitation to translating these advanced
technologies to the end users is the high cost associated with
these tactile sensors [20]. Thus, tactile sensors are not
commercially available for prosthetic applications.
The advantages of force sensing resistor (FSR) includes
simple structure, low cost, light weight, and easy to be
installed, which enable them to be widely used in engineering
application [20]. FSR technology had been noted by a number
of researchers and it quickly being integrated into many
applications e.g. FSR had been used in notably machine
control, computer input devices and composite manufacture
[21] and it also be used in design of pressure scanning system
for plantar pressure measurement [22] etc. According to these
investigation results, FSR can detect the level of normal force
exerted accurately and timely, moreover, the output data of
FSR can be further processed and used to detect slippage
between the prosthetic hand and grasped object [20].
Nowadays, the DWT method was mainly used as nonlinear
noise reduction method [23]. Besides, it can also detecting
transient high-frequency components and ensure a high speed
of computation [28]. Thus, the applications of FSR and DWT
are both demonstrated to be promising by researches
aforementioned, to the best of the authors’ knowledge,
however, this is the first attempt to provide a new slip
detection method of prosthetic hand by the combined use of
FSR and DWT, and both accurately and fast detection of
slippage were expected by using this new method.
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 II. THE PHYSICAL BASIS OF THE METHOD
Friction
A. Force Analysis of Prosthetic Hand
The force analysis of the prosthetic hand system, grasped + fs
object and finger are shown in Fig.1, where FN and FN are 1 2
fv
+ fc
driving forces from motor, Fd is disturbing force, m is the
mass of the grasped object, g is the acceleration of gravity,
f1 and f 2 are the friction forces, FP and FP are the pressure v0 v1
− fc
1 2
Velocity
'
forces of finger to the grasped object, F is the reacting force P1

of FP .
1
− fs

Fd Grasped Fd
object f1 f2 Fig. 2 Stribeck friction model
FSR
In the initial slipping stage, according to (3), there will be
FN1 FN2 F FP2 a decrease in grasping force, which can be given by:
P1

Finger Finger ΔF = FN1 − FP1 . (4)

Grasped
mg mg object
(a) (b)
Moreover, a high frequency signal output of FSR was
detected during the changing of grasping force.
Finger
B. The DWT method
F '
FN1
The Discrete Wavelet Transform (DWT) was used as a
P1
method for detecting these transient high-frequency
(c) components [28]. DWT was performed on the data by using
Fig. 1 Force analysis of (a) prosthetic hand system
the Haar wavelet, which was employed to ensure a high speed
(b) grasped object (c) prosthetic finger of computation. Moreover, the threshold was set to a certain
value. By setting a suitable threshold, a judgment can be made
In many researches [24-26], friction model has been regarding the occurrence of object slip [28]. For the grasping
investigated, especially low speed friction characteristics. As force FP , it can be represented by,
1

shown in Fig.2, the Stribeck friction model is suitable for

describing the dynamic friction behavior at Low-velocity [27]. FP1 = ∑ ckjφ jk + ∑ d kjψ jk . (5)
k k
Thus it’s used to discuss the friction behavior here:
p −1

f1 = f c + ( f s − f c )e
−( v
vs
)2
+ f vv . (1) where ckj = ∑ h( n)c2jk−+1 n ;
n =0
p −1
where fc is the Coulomb level, f s is the max of static friction d kj = ∑ g (n)c2jk−+1 n ;
n=0
force, fv and vs are viscous friction coefficient and the
( j = 1, 2,..., L, k = 0,1,..., N / 2 j − 1) ;
Stribeck velocity, respectively.
As shown in Fig.2, the friction showed a lasting decrease φ jk and ψ jk denotes the scaling function and wavelet function,
from the velocity v0 to v1 ( v0 =0 m/s ). In other words, the respectively. Besides, {h( n )} and { g ( n )} denotes low pass
friction f1 will decline from the beginning of slippage. power coefficient and high pass power coefficient,
respectively. The length of power coefficient is p, N is the
The relation between friction force and positive pressure
can be expressed in the following common form: length of the input signal and L is the series, d12 is the energy
of vibration.
f1 = μ ⋅ Fp1 . (2) Fig.3 illustrates the DWT analysis used in the experiments,
the grasping force FP shows the grasped object slipping at the
where μ is the friction coefficient between prosthetic finger
1

time 0.26 ms, at the same time the curve of the low-frequency
and object, FP is the grasping force.
1
coefficient lk starts to react, moreover，the high-frequency
Supposing that coefficient of kinetic friction, μ , is a
signal which is produced by slippage can be detected by DWT
contact, based on (1) and (2), the grasping force FP can be 1
and show reaction in d12 history curve.
given by:
The threshold was set by comparing the results of DWT on
1 1 −( v )2 1 the frasping force signals when only a change in the grasping
FP1 = fc + ( f s − f c )e vs
+ fv v . (3) force occurred and when object slip occurred. As shown in
μ μ μ

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Fig.4, it can be seen that the wavelet coefficient exhibited little scope of the impulse force is 0-20 Newton.
variation (Max: 0.002) when applying an unloading force and
a loading force. Accordingly, the threshold was set to 0.01. Disturbance
generator
Slip

FP1 Grasped object

Prosthetic hand

FSR
lk

Fig. 5 Test instrumentation

d12 Threshold cs
Motor

Thumb
Fig. 3 The DWT analysis of grasping force

FP1 Un-load FSR Silicone cover

Load
Fig. 6 A single DOF prosthetic hand

Threshold Threshold
2
d1 Controller

Force indicator
dial
Fig.4 DWT for unloading and loading of metal cup

III. EXPERIMENTAL SECTION

A. Experimental Apparatus Striker
The test instrumentation is mainly composed by three-
fingered prosthetic hand, force sensing resistor, the
disturbance generator, data acquisition and grasped object as Fig.7 Disturbance generator
shown in Fig.5. The prosthetic hand is actuated by a DC motor
(series 2657). A FSR (standard 402 sensor) mounted on the
B. Procedures
surface of thumb is used to capture force variations during the
A series of experiments were carried out and for all the
slip of grasped object, as shown in Fig.6. In order to collect
grasped objects with different masses, different materials and
the signal of sensors in the reflex control system, we use the
under different disturbing forces, the grasping forces were
NI PXIe-6363 multifunction data acquisition card as data
measured and further performed with DWT. Some major
acquisition module and the sampling period is 1ms.
A disturbance generator is used for imitating disturbance information of the subjects is shown in Table I-II, where mi , j
such as filling water or other foods into grasped cup, as shown is the mass of grasped object and pi , j is the disturbing force.
in Fig. 7. The controller connects with the striker and causes In this paper, metal cup, plastic cup and paper cup were
the striker to move up and down by changing the height of the used as grasped objects and the grasping force of human hand
controller. The striker can produce impulse force on the is pre-measured once the experimental object is properly
grasped object by adjusting the height of the controller. The grasped, then, adjust the value of the original gasped force of

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the prosthetic hand to the same value. Experiment procedures values, an internal relation between ΔF and d1 max may exist.
2

can be summarized as follows: The relation between the vibration energy and the grasping
1) By applying the pre-measured original grasped force force decline was shown in Fig.11. A regression analysis
an object is grasped by prosthetic hand stably at a constant based on the test results was conducted to obtain the best-fit
height. 2
ΔF - d1 max curve. It’s interesting to find that the relation
2) The disturbance generator produces a certain
disturbance force that exerts on the top of the grasped object between the vibration energy and the grasping force decline
which makes the grasped object has a trend to slip at the shown in Fig.11 can be closely described by the following
tangential direction of the interface between object and equation:
prosthetic hand. ΔFt = a1 ln(d12 max ) + a2 . (6)
TABLE I
MASS OF GRASPED OBJECT where a1 = 0.3739 and a2 = 1.9181 , which are determined by
mi , j ( kg ) i using the method of least squares. Thus, the (4)-(6) becomes,
1 2 3
j
ΔFt = 0.3739ln(d12 max ) + 1.9181 . (7)
1 0.220 0.420 0.620
2 0.235 0.435 0.635
3 0.105 0.265 0.315
In order to examine the significance of the proposed
Note: j = 1 is metal cup, j = 2 is plastic cup, j = 3 is paper cup.
equation, the F-test method is used, the total sum of squared
residuals is,
TABLE II N
DISTURBING FORCE S = ∑ (ΔFi − ΔF ) 2 = 4.9523 . (8)
pi , j ( N ) i i =1
1 2 3 4
j The relationship between regression sum of squares and
1,2,3,4 1 2 3 4 residual sum of squares can be described as,
Note: j = 1 is metal cup, j = 2 is plastic cup, j = 3 is paper cup.
S =U +Q . (9)
IV. REASULTS AND DISCUSSION
N
A. Test Results where U = ∑ (ΔFt i − ΔF ) = 4.7648 ,
2

First, as shown in Fig.7, it can be seen that the wavelet i =1

coefficient exhibited little variation (Max: 0.002) when N

applying an unloading force and a loading force. Accordingly, Q = ∑ (ΔFt i − ΔFi ) 2 = 0.1864
i =1
we set the threshold to 0.01.
Besides, the residual standard deviation is,
Typical results obtained for grasped objects with different
masses and different materials are shown in Fig.8-10, σ = Q / ( N − 2) = 0.07632 . (10)
respectively. The curves can be divided into three stages, i.e.
the contact stage, the slipping stage and a relatively stable Therefore, the accuracy of regression curve is relatively
stage. The grasping force Fp stays stably in the contact stage,
1 high.
then it decreases immediately when the grasped object begins f can be expressed in the following common form [29]
to slip and maintains continuous jump changing in the
subsequent few tenths of a second in the slipping zone, which U /1
f = = 903.32 . (11)
corresponding to the vibration period of the grasped object. Q / ( N − 2)
After the vibration lasts for a period of time, the grasping
force stays stably again in the stable stage. Since slip detection requires high precision, the level of
The detailed test results are shown in Table III, where ΔF significance, α , is set to 0.01 and in this condition, the values
means the decline of grasping force, d12 denotes the energy of of f can be given below according to the distribution list:
vibration, t stands for the whole time cost in detecting f 0.01 (1,30) = 7.56
slipping.
f 0.01 (1,40) = 7.31
B. Proposed Equation for the Vibration Energy-Grasping
Force Decline Relationship Thus,
As explained above, the grasping force decreases
immediately when the grasped object begins to slip and an f > f 0.01 (1,30) > f 0.01 (1,40)
increase in d12 was also observed at the same time (see Fig. 8- Therefore, the regression analyze is highly significant at
Fig. 10). the significance level of α = 0.01 .
2
Since the value of d1 max changes with different ΔF ( N )

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 Contact Slip Stable Contact Slip Stable Contact Slip Stable

Slip

FP1 ΔF FP1 FP1 ΔF

ΔF
Slip Slip

d12 d12 d12

Threshold Threshold Threshold

Fig.8 DWT for metal cup slip Fig.9 DWT for plastic cup slip Fig.10 DWT for paper cup slip

TABLE III
DETAILED DATA OF EXPERIMENTS

d12 max ΔF ( N ) t ( ms )
Object Mass(kg)
types
1 2 3 4 1 2 3 4 1 2 3 4
0.220 0.0117 0.0365 0.2388 0.1671 0.2738 0.5649 1.2878 1.3444 4 2 2 3
Metal 0.420 0.0116 0.0248 0.0635 0.1507 0.2004 0.4949 0.9738 1.2444 4 4 6 2
cup
0.620 0.0113 0.0147 0.0538 0.1399 0.1506 0.4412 0.7905 1.1778 2 1 2 1
0.235 0.0175 0.0339 0.0855 0.3121 0.4282 0.5172 0.9953 1.3912 4 2 3 4
Plastic 0.435 0.0150 0.0235 0.0516 0.1883 0.4031 0.4942 0.7639 1.2365 6 2 6 3
cup
0.635 0.0145 0.0183 0.0346 0.1583 0.3964 0.4646 0.5558 1.3365 4 3 4 1
0.105 0.0214 0.0288 0.0716 0.1518 0.4439 0.5065 1.0546 1.3270 4 3 1 2
Paper 0.265 0.0135 0.0277 0.0406 0.0830 0.4102 0.5513 0.8142 0.9846 2 3 2 2
cup
0.315 0.0127 0.0216 0.0374 0.0813 0.2823 0.5055 0.6832 0.9518 3 4 3 1
Note: The specimens in each column below the variable ΔF , d12 and t have the same disturbing force with 1 for 1N, 2for 2N, 3 for 3N and 4
for 4N, respectively.

TABLE IV
EVALUATION OF THE MODEL

ΔF ( N )
Object Mass
types d12 Δ (N) δ (%)
(kg) Measured Calculate
value d value
0.220 0.0739 0.9441 0.9847 0.0406 4.1231
Metal 0.420 0.0139 0.3194 0.3334 0.0140 4.1992
cup
0.620 0.0207 0.4683 0.4570 0.0113 2.4726
0.235 0.0570 0.8470 0.8821 0.0351 3.9791
Plastic 0.435 0.0145 0.3352 0.3464 0.0112 3.2332
cup
0.635 0.0174 0.4033 0.3963 0.0070 1.7663
0.105 0.0518 0.8112 0.8270 0.0158 1.9105
Paper 0.265 0.0265 0.5606 0.5283 0.0323 6.1140
Fig.11 The relationship between Δ F and d12 max
cup
0.315 0.0288 0.5917 0.6665 0.0252 4.4484
In order to investigate the performance of the proposed
model, by setting the disturbing force to 2N, additional tests ΔFt > 0 Slip occur
were conducted. The main test results are and compared with ΔFt ≤ 0 No slip occur
predictions of the proposed model in TABLE IV, where Δ is A series of extra experiments which the grasped objects
absolute error, δ is fractional error. It’s evident from Table 4 did not slip were carried out and the results were shown in
that the absolute error is relatively small (Max: 0.0351N) and Table V. It can be seen that for all objects under different
so does the fractional error (Max: 6.1140%). Therefore, the disturbing forces and did not slip, ΔF < 0 . Another part of the
value of ΔF can be calculated by this model accurately. proposed criterion can be also supported by the test results
To make a clear and simple understanding of slip given in Table III and Table IV. Thus, by using the criterion
detection, based on the test results in this paper, the following proposed, (7) can be used as a method for slip detection.
criterion is proposed: However, it’s should be noticed that this is an emprical model

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