The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high resolution. Two hundred experiments were performed on four objects with different shapes, sizes, weights, and materials to compare the accuracy and response of the Baxter robot grippers to avoid slipping. The advanced approach is validated by using a force-sensitive resistor (FSR402). The events captured with the DAVIS camera are processed with specific algorithms to provide feedback to the Baxter robot aiding it to detect the slip.

翻译：本文的目的是介绍实时反馈中检测滑落和接触力的方法,在这一新办法中,DAVIS相机因其快速过程速度和高分辨率而被用作视觉触动感应器,在四个形状、大小、重量和材料不同的物体上进行了200次实验,以比较Baxter机器人抓抓器的准确性和反应,避免滑落。先进办法通过使用对力敏感的抵抗器(FSR402)加以验证。DAVIS相机拍摄的事件经过具体算法处理,以便向巴克斯特机器人提供反馈,协助它探测滑落。