IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_Data fusion and sensing technology_ICECS2025

The perception of contact and slippage is one of the remarkable abilities of human tactile sensing. In contrast, most of the prosthetic hands are still lacking the perception of this unforeseen event. In this study, a contact and slippage detection algorithm for prosthetic hands is presented. A flexible P(VDF-TrFE) poly(vinylidene fluoride trifluoro-ethylene) sensing array was employed to perform a sequence of touch events, such as sliding. Based on the sensor’s response, a threshold technique was established to detect three events, including the onset of contact, slippage, and release. Experimental results indicate that the proposed algorithm achieved a success rate of 75%, demonstrating the effectiveness of the algorithm in accurately detecting both contact and slippage. These results open up promising perspectives for real-time slippage detection in prosthetic applications.