New approach to detection of incipient slip using inductive sensory system

Abdullah Al Mamun, Mahrous Ibrahim

    Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

    2 Citations (Scopus)


    This paper presents a new methodology for detecting incipient slip for intelligent grasping. A new inductive sensor was designed and developed to achieve this task. A full description of the structure of the new sensor is included in this paper. The three elements required for a successful robotic grasping were examined using the newly designed sensor. These elements are incipient slip, grip force and contact area. The new design of the incipient slip detector is based on the summation of changes in mutual distance in all three primary inductors of a sensor element. This can be used to determine local or micro slip for a secure and optimal grasping. In addition this sensor can be also used to detect the applied force and determine the contact area between the object and the gripping device.
    Original languageEnglish
    Title of host publicationProceedings of the ISIE 2010 IEEE International Symposium on Industrial Electronics
    EditorsAldo Boglietti, Thilo Sauter
    Place of PublicationUSA
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages1901 - 1906
    Number of pages6
    ISBN (Print)9781424463916
    Publication statusPublished - 2010
    EventIEEE International Symposium on Industrial Electronics (ISIE) 2010 - Domina Hotel & Conference Baro Palace, Bari, Italy
    Duration: 4 Jul 20107 Jul 2010
    Conference number: 19th (Proceedings)


    ConferenceIEEE International Symposium on Industrial Electronics (ISIE) 2010
    Abbreviated titleISIE 2010
    Internet address

    Cite this