Tu-PHS-09 - Investigating Slip-Induced Frequency Relationship in Dual-Channel PVDF Sensor Applied to Robotic Grippers

Event

EUROSENSORS 2026
2026-09-06 - 2026-09-09
Zurich

Band

Poster

Chapter

Physical Sensors

Author(s)

Z. Wang, V. Kamat, S. Bhansali - Vanderbilt University,Nashville (USA)

Pages

582 - 583

DOI

10.5162/eurosensors2026/Tu-PHS-09

ISBN

978-3-910600-12-6

Price

free

Abstract

Robotic handling implements sensors (pressure, tactile, acoustic) for slip sensing and regulating grasping forces. We investigated dual-channel PVDF acoustic sensors embedded in a compliant gripper and characterized them in the frequency domain across 159 grasp trials (72 slip, 87 non-slip). Slip was shown to significantly alter the frequency-selective relationship between the inner and outer sensors, which is absent below 10⁰ Hz and strongly amplified above it (effect size up to 0.97). A threshold model was developed and achieved 81.7% cross-validated accuracy in distinguishing slip from no-slip events.