Mechanics of Localized Slippage in Tactile Sensing

And Application to Soft Sensing Systems

  • Anh-Van Ho
  • Shinichi Hirai

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 99)

Table of contents

  1. Front Matter
    Pages 1-16
  2. Anh-Van Ho, Shinichi Hirai
    Pages 1-8
  3. Mechanical Modeling of Localized Slippage

    1. Front Matter
      Pages 9-9
    2. Anh-Van Ho, Shinichi Hirai
      Pages 53-84
  4. Tactile Sensing of Localized Slippage

    1. Front Matter
      Pages 85-86
    2. Anh-Van Ho, Shinichi Hirai
      Pages 87-112
    3. Anh-Van Ho, Shinichi Hirai
      Pages 155-178
    4. Anh-Van Ho, Shinichi Hirai
      Pages 179-182
  5. Back Matter
    Pages 183-222

About this book


Localized slippage occurs during any relative sliding of soft contacts, ranging from human fingertips to robotic fingertips. Although this phenomenon is dominant for a very short time prior to gross slippage, localized slippage is a crucial factor for any to-be-developed soft sensing system to respond to slippage before it occurs. The content of this book addresses all aspects of localized slippage, including modeling and simulating it, as well as applying it to the construction of novel sensors with slip tactile perception.


Haptic Robotics Localized Slippage Robotics Soft Fingertip Soft Fingertip Tactile Sensing

Authors and affiliations

  • Anh-Van Ho
    • 1
  • Shinichi Hirai
    • 2
  1. 1.Department of RoboticsRitsumeikan UniversityShigaJapan
  2. 2.Department of RoboticsRitsumeikan UniversityShigaJapan

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2014
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-04122-3
  • Online ISBN 978-3-319-04123-0
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site
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