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At the same time, their usage poses new challenges, related to the adoption of classical sensing techniques originally developed for rigid end defectors, which provide fundamental information, such as to detect object slippage. Under this regard, model\u2010based approaches for the processing of the gathered information are hard to use, due to the difficulties in modeling hand\u2013object interaction when softness is involved. To overcome these limitations, in this article, we proposed to combine distributed tactile sensing and machine learning (recurrent neural network) to detect sliding conditions for a soft robotic hand mounted on a robotic manipulator, targeting the prediction of the grasp failure event and the direction of sliding. The outcomes of these predictions allow for an online triggering of a compensatory action performed with a second robotic arm\u2013hand system, to prevent the failure. Despite the fact that the network is trained only with spherical and cylindrical objects, we demonstrate high generalization capabilities of our framework, achieving a correct prediction of the failure direction in  of cases, and a  of successful regrasps, for a selection of 12 objects of common use.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100146","type":"journal-article","created":{"date-parts":[[2021,10,9]],"date-time":"2021-10-09T05:56:23Z","timestamp":1633758983000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Learning to Prevent Grasp Failure with Soft Hands: From Online Prediction to Dual\u2010Arm Grasp Recovery"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1212-3465","authenticated-orcid":false,"given":"Giuseppe","family":"Averta","sequence":"first","affiliation":[{"name":"Centro di Ricerca \u201cEnrico Piaggio\u201d Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Dipartimento di Ingegneria dell'Informazione Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9088-3366","authenticated-orcid":false,"given":"Federica","family":"Barontini","sequence":"additional","affiliation":[{"name":"Centro di Ricerca \u201cEnrico Piaggio\u201d Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Dipartimento di Ingegneria dell'Informazione Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Irene","family":"Valdambrini","sequence":"additional","affiliation":[{"name":"Centro di Ricerca \u201cEnrico Piaggio\u201d Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Dipartimento di Ingegneria dell'Informazione Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paolo","family":"Cheli","sequence":"additional","affiliation":[{"name":"Centro di Ricerca \u201cEnrico Piaggio\u201d Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Dipartimento di Ingegneria dell'Informazione Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5213-2468","authenticated-orcid":false,"given":"Davide","family":"Bacciu","sequence":"additional","affiliation":[{"name":"Dipartimento di Informatica Universita di Pisa  Pisa 56127 Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4747-1697","authenticated-orcid":false,"given":"Matteo","family":"Bianchi","sequence":"additional","affiliation":[{"name":"Centro di Ricerca \u201cEnrico Piaggio\u201d Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Dipartimento di Ingegneria dell'Informazione Universita\u2018 di Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,10,7]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105003"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00069"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-44506-8_18"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2829027"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2810544"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920947469"},{"key":"e_1_2_8_8_1","doi-asserted-by":"crossref","unstructured":"L.Schramm A.Sintov A.Boularias in2020 IEEE Inter. 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