Sensing Force Dynamics of Prehensile Grip During Object Slippage Using a Slip Inducing Device

Understanding the force dynamics during object slippage is crucial in effectively improving manipulation dexterity. Force dynamics during object slippage will be varied based on the characteristics of the mechanical stimuli. This work is the first to explore force dynamics while considering the simultaneous effects of slip direction, distance, and speed variations. We performed the experiment with healthy individuals to explore how the hand kinetics will be modulated during the reflex and the voluntary phases based on the choice of slip direction, slip distance, and slip speed. Our results reveal that the force dynamics significantly depend on the slip direction. However, we observed that the variation pattern differed depending on the reflex and voluntary phases of the hand kinetics. We also observed that the force dynamics were modulated depending on the significant interactions of slip distance and slip speed in a particular slip direction. The experiment was designed to closely mimic the real-life scenario of object slippage. Thus, the findings can significantly contribute to advanced sensorimotor rehabilitation strategies, haptic feedback systems, and mechatronic devices.