An imaging system of incipient slip for modelling how human perceives slip of a fingertip

This paper presents the structure and performance of the newly developed fingerprint imaging system, and the outline of the image processing for the quantification of incipient slip. Incipient slip, that is considered to have direct relation with slip perception, is visualized as distortion of a fingerprint pattern. A force sensor for the contact force measurements are also newly developed. Thus this system enables highly accurate incipient slip and fingertip contact force measurements.