A new slip-detection method based on pairwise high frequency components of capacitive sensor signals

In this paper, a novel method for slip detection using a capacitive sensor is proposed. We perform the Discrete Wavelet Transform (DWT) on the original signals of sensor. By comparing different wavelets, we find that the Haar wavelet is the most suitable to separate different frequency components. After performing the DWT by using the Haar wavelet, the separated high frequency components are pairwise due to properties of the Haar wavelet. Different from setting thresholds to detect object slip, our method detects slip by observing the variation trend of pairwise high frequency components. Meanwhile, we can distinguish signals of object loading and slip respectively. We carry out experiments on several objects with different surface properties and the results are consistent with our observations.