{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:40Z","timestamp":1754157400126,"version":"3.41.2"},"reference-count":21,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2008,6,20]],"date-time":"2008-06-20T00:00:00Z","timestamp":1213920000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2008,6,20]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to analyze surface deformations caused by shear and moment forces on tactile materials and present a method to detect and reduce the risk of slippage by controlling the normal force as measured by tactile sensor arrays.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A predictive model has been proposed which uses a basic method adapted to real applications in grasp optimization. Prevention of premature release with minimum prehension force is addressed without the need to measure the coefficient of friction between object and robot gripper. Predictive models have been used to develop a set of rules which predict the pre\u2010slip based on fluctuations in tactile signal data.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The tactile sensors can be used in a \u201cnonlinear\u201d manner during manipulation tasks. When the gripper finger first makes contact with an object, the stress distribution under the finger skin varies rapidly. Predictive models have been used to develop a set of rules which predict the pre\u2010slip based on fluctuations in tactile signal data. Pre\u2010slip at the contact area just prior to object movement produces rapid but detectable stress transients.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Tactile sensors do not measure stress generated by a contact with an object directly, but instead measure strain in an interposed compliant, polymeric medium intended for sensor protection and prehension assistance. Reliable detection of pre\u2010slip has hitherto eluded researchers using such tactile techniques.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910810876454","type":"journal-article","created":{"date-parts":[[2008,6,28]],"date-time":"2008-06-28T07:01:50Z","timestamp":1214636510000},"page":"361-368","source":"Crossref","is-referenced-by-count":1,"title":["Optimisation of prehension force through tactile sensing"],"prefix":"10.1108","volume":"35","author":[{"given":"Somrak","family":"Petchartee","sequence":"first","affiliation":[]},{"given":"Gareth","family":"Monkman","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021320483935300_b19","doi-asserted-by":"crossref","unstructured":"Anand, A. and Soom, A. 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