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Mr.Adam Sutcliffe, Senior Business Manager of the Emerald Group Publishing Limited interested in having
the Highly Commended Award Winner presented in person at CAT Telecom PCL. The paper has been
selected as it was one of the most impressive pieces of work is the article entitled "Optimization of
prehension force through tactile sensing" by Dr. Somrak Petchartee, Engineer at R&D Department.

Abstract: Optimisation of prehension force through tactile sensing

Purpose – The purpose of this paper is to analyze surface deformations caused by shear and moment forces
on tactile materials and present a method to detect and reduce the risk of slippage by controlling the normal
force as measured by tactile sensor arrays.

Design/methodology/approach – A predictive model has been proposed which uses a basic method adapted
to real applications in grasp optimization. Prevention of premature release with minimum prehension force is
addressed without the need to measure the coefficient of friction between object and robot gripper. Predictive
models have been used to develop a set of rules which predict the pre-slip based on fluctuations in tactile
signal data.

Findings – The tactile sensors can be used in a “nonlinear” manner during manipulation tasks. When the gripper
finger first makes contact with an object, the stress distribution under the finger skin varies rapidly. Predictive
models have been used to develop a set of rules which predict the pre-slip based on fluctuations in tactile signal
data. Pre-slip at the contact area just prior to object movement produces rapid but detectable stress transients.

Originality/value – Tactile sensors do not measure stress generated by a contact with an object directly, but instead
measure strain in an interposed compliant, polymeric medium intended for sensor protection and prehension
assistance. Reliable detection of pre-slip has hitherto eluded researchers using such tactile techniques.