# Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip

arXiv: https://arxiv.org/abs/1810.13381 · HTML: https://mlsanity.com/paper/1810.13381/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Oct 2018.

## Built on by (most cited first, 16 of 16)

- [GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger](https://mlsanity.com/paper/2106.08851/) (2021)
- [SwingBot: Learning Physical Features from In-hand Tactile Exploration for Dynamic Swing-up Manipulation](https://mlsanity.com/paper/2101.11812/) (2021)
- [Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation](https://mlsanity.com/paper/2312.01236/) (2023)
- [FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors](https://mlsanity.com/paper/2410.02048/) (2024)
- [Dynamic Modeling of Hand-Object Interactions via Tactile Sensing](https://mlsanity.com/paper/2109.04378/) (2021)
- [Sensor-Invariant Tactile Representation](https://mlsanity.com/paper/2502.19638/) (2025)
- [Learning to Detect Slip through Tactile Estimation of the Contact Force Field and its Entropy](https://mlsanity.com/paper/2303.00935/) (2023)
- [Tactile-Filter: Interactive Tactile Perception for Part Mating](https://mlsanity.com/paper/2303.06034/) (2023)
- [LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping](https://mlsanity.com/paper/2403.04934/) (2024)
- [Learning to Detect Slip with Barometric Tactile Sensors and a Temporal Convolutional Neural Network](https://mlsanity.com/paper/2202.09549/) (2022)
- [Robust Learning-Based Incipient Slip Detection using the PapillArray Optical Tactile Sensor for Improved Robotic Gripping](https://mlsanity.com/paper/2307.04011/) (2023)
- [Learning Gentle Grasping from Human-Free Force Control Demonstration](https://mlsanity.com/paper/2409.10371/) (2024)
- [Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors](https://mlsanity.com/paper/2103.13460/) (2021)
- [Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations](https://mlsanity.com/paper/2508.01082/) (2025)
- [Tac2Pix: Image-Space Visuo-Tactile Fusion for Dexterous Manipulation](https://mlsanity.com/paper/2606.08765/) (2026)
- [SlipSense: Multimodal Tactile Learning for Low-Latency and Generalized Slip Detection](https://mlsanity.com/paper/2609.15910/) (2026)

## Abstract (arXiv)

In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes with a soft gel pad. The method assumes the object is mostly rigid and treats the motion of object's imprint on sensor surface as a 2D rigid-body motion. We use the deviation of the true motion field from that of a 2D planar rigid transformation as a measure of slip. The output is a dense slip field which we use to detect when small areas of the contact patch start to slip (incipient slip). The method can detect both translational and rotational incipient slip without any prior knowledge of the object at 24 Hz. We test the method on 10 objects 240 times and achieve 86.25% detection accuracy. We further show how the slip feedback can be used to monitor the gripping force to avoid slip with a closed-loop bottle-cap screwing and unscrewing experiment with incipient slip detection feedback. The method was demonstrated to be useful for the robot to apply proper gripping force and stop screwing at the right point before breaking objects. The method can be applied to many manipulation tasks in both structured and unstructured environments.