Identification of Slippage on Naturalistic Surfaces via Wavelet Transform of Tactile Signals

The effort toward replicating human skills into artificial systems is growing constantly. While artificial vision has reached a certain reliability, the sense of touch is still hard to introduce into robotic devices. Human manipulation comprises a sequence of static and dynamic actions, which may include unforeseen events, such as variation of object position, movement of the fingers, and modification of the object dimensions and shape (e.g.,...