SlipSense: Multimodal Tactile Learning for Low-Latency and Generalized Slip Detection
Slip detection is fundamental to dexterous manipulation, yet existing systems often lack precise characterization of detection latency and cross-platform generalization. We present SlipSense, a multimodal tactile slip-detection framework built on TacV5, a compact sensor integrating a $32 \times 32$ piezoresistive array operating at 240 Hz and a 3-axis MEMS accelerometer operating at 8 kHz. The piezoresistive array captures spatial pressure distributions, while the accelerometer captures friction-induced vibrations, providing complementary slip cues. The framework performs modality-specific encoding, intra-sensor fusion, and cross-modal attention with causal temporal prediction at 240 Hz. ...
| Authors | Tong Jian, Aditya Thurvas Senthil Kumar, Xinyi Li et al. |
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| Primary category | cs.RO |
| Published | 14 September 2026 |
| Last updated at source | 14 September 2026 |
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