Modeling, Simulation, and Application of Spatio-Temporal Characteristics Detection in Incipient Slip

--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 spatiotemporal 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 vis ion-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. INTRODUCTION ACTILE perception plays a crucial role in stable grasping and dexterous manipulation in humans [1]. Neuroscientific studies show that humans can identify the frictional parameters of objects they touch with over 90% accuracy [2], and quickly adjust the grasp force within about 200 milliseconds to prevent slipping [3]. This ability enables humans to adapt to changes in friction levels based on tactile feedback and apply proper force to ensure s tability while maintaining gentle grasping [4]. The perception of incipient slip is an effective means for friction parameter recognition and grasp force control [5],[6]. Incipient slip is an intermediate state between complete sticking and full slipping of the contact surface, as shown in Figure 1. When a tangential load is applied to the contact surface, slip first occurs at the contact edge. It gradually spreads inward, eventually covering the entire stick region [7]. This work was supported by the National Natural Science Foundation of China under Grant 52375017. We refer to these two characteristics of incipient slip as spatial and temporal characteristics: spatial characteristics refer to the distribution of the stick -slip reg ion at a given moment, while temporal characteristics describe the time evolution of local slip. These characteristics are widely present in human tactile perception. According to existing research, Human sensory information is encoded by neural populations to capture spatial distribution, rather than being transmitted by individual neurons. Besides, skin deformation can be influenced by the loading history [9].