{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T05:25:55Z","timestamp":1782365155425,"version":"3.54.5"},"reference-count":41,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,2,9]],"date-time":"2026-02-09T00:00:00Z","timestamp":1770595200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["RGPIN-2024-06290"],"award-info":[{"award-number":["RGPIN-2024-06290"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>\n                    This paper addresses the challenge of detecting and recovering from slip during robotic grasping of unknown objects, with the objective of establishing a robust no on-site or per-object calibration slip-recovery controller for an anthropomorphic hand. This hand is equipped with tri-axial piezoresistive tactile force sensors on each finger, and the proposed approach is validated through experimental analysis. The proposed methodology eliminates the need for object- or pose-specific calibration, explicit friction modelling, dense tactile arrays, line-of-sight vision, and a data-hungry learning process, enabling real-time implementation with minimal computation and integration effort. Using a commonly acquired online baseline from initial readings, slip is detected from relative changes between consecutive samples of the baseline-subtracted resultant tangential force, and object engagement is determined when the normal force reading deviates from a no-slip baseline beyond a preset threshold. Upon detecting slip, each finger increases its gripping force in closed-loop control until the slip stops, while enforcing motor-current protection in finger control to prevent actuator overload and object damage. Experiments were conducted on objects with different rigidity, weight, and surface textures, including an aluminium tube, a plastic water bottle, and a sponge. Additionally, the response time and variations in gripping force were evaluated. The results demonstrate rapid slip response via localized per-finger correction, good object conformability, and effective re-stabilization under different lifting speeds and sudden external disturbances. The per-finger design utilizes the minimum necessary correction at the offending finger, reducing unnecessary force increases on other fingers and improving grasp efficiency. This approach represents a practical solution for warehouse picking, human\u2013robot collaboration, and\n                    <jats:italic>in situ<\/jats:italic>\n                    manipulation where task-specific calibrations, visual access, or training datasets are impractical.\n                  <\/jats:p>","DOI":"10.3389\/frobt.2026.1735467","type":"journal-article","created":{"date-parts":[[2026,2,9]],"date-time":"2026-02-09T08:53:25Z","timestamp":1770627205000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Calibration-free per-finger force-feedback slip control for grasping by anthropomorphic hand with tri-axial tactile sensors"],"prefix":"10.3389","volume":"13","author":[{"given":"Dickson Chiu Yu","family":"Wong","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, York University","place":["Toronto, ON, Canada"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng H.","family":"Zhu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, York University","place":["Toronto, ON, Canada"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,2,9]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1177\/02783649231155952","article-title":"Certified grasping","volume":"42","author":"Aceituno-Cabezas","year":"2023","journal-title":"Int. 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