Reactive Slip Control in Multifingered Grasping: Hybrid Tactile Sensing and Internal-Force Optimization

• URL: http://arxiv.org/abs/2602.16127v2
• Date: Tue, 10 Mar 2026 14:39:27 GMT
• Title: Reactive Slip Control in Multifingered Grasping: Hybrid Tactile Sensing and Internal-Force Optimization
• Abstract summary: We present a hybrid learning and model-based approach for reactive internal-force adaptation to halt in-hand slip in a robotic gripper.<n>A multimodal tactile stack combines piezoelectric (PzE) sensing for fast slip cues with piezoresistive (PzR) arrays for contact localization.<n>We demonstrate reactive stabilization of multifingered grasps under external perturbations.
• Score: 0.6882042556551609
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present a hybrid learning and model-based approach for reactive internal-force adaptation to halt in-hand slip in a multifingered robotic gripper. A multimodal tactile stack combines piezoelectric (PzE) sensing for fast slip cues with piezoresistive (PzR) arrays for contact localization, enabling online construction of the grasp matrix. Upon slip detection, internal forces are updated in the null space of the grasp through a quadratic program that reinforces normal forces while preserving the object wrench. We demonstrate reactive stabilization of multifingered grasps under external perturbations. Augmenting analytic force control with learned tactile cues enables fast and reliable closed-loop stabilization in the evaluated grasp scenarios. The pipeline yields a theoretical sensing-to-command latency of 35-40 ms, including 5 ms for PzR-based grasp geometry updates and approximately 4 ms for solving the quadratic program. In controlled trials, slip onset is detected after ~ 20 ms. The analysis supports the feasibility of sub-50 ms integrated closed-loop stabilization.

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