通过应变极值捕捉滑移时空特征，实现精准抓取预警。
Modeling, Simulation, and Application of Spatio-Temporal Characteristics Detection in Incipient Slip
- 基于局部位移分析建立应变率极值与滑移状态关联。
- 可同时检测滑移的分布位置与动态变化过程。
- 适用于视觉触觉传感器，支持自适应抓握控制。
初滑检测为机器人抓取与操作提供关键反馈，但在不同物体属性和复杂工况下保持适应性仍具挑战。本文强调全面表征滑移时空特征的重要性，提出一种新型初滑建模与检测方法。基于局部位移现象分析，建立了特征应变率极值事件与局部滑移状态之间的关系，可同时实现对粘-滑区域空间分布与时间动态的检测。该方法可应用于应变分布传感设备，如基于视觉的触觉传感器。仿真与原型实验验证了其在不同接触几何、摩擦系数及组合载荷条件下的有效性。实验表明，该方法不仅能准确可靠地识别初滑，还可支持摩擦参数估计与自适应抓握控制。
原文摘要 · Abstract (English)
Incipient slip detection provides critical feedback for robotic grasping and manipulation tasks. However, maintaining its adaptability under diverse object properties and complex working conditions remains challenging. This article highlights the importance of completely representing spatio-temporal features of slip, and proposes a novel approach for incipient slip modeling and detection. Based on the analysis of localized displacement phenomenon, we establish the relationship between the characteristic strain rate extreme events and the local slip state. This approach enables the detection of both the spatial distribution and temporal dynamics of stick-slip regions. Also, the proposed method can be applied to strain distribution sensing devices, such as vision-based tactile sensors. Simulations and prototype experiments validated the effectiveness of this approach under varying contact conditions, including different contact geometries, friction coefficients, and combined loads. Experiments demonstrated that this method not only accurately and reliably delineates incipient slip, but also facilitates friction parameter estimation and adaptive grasping control.
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