A resilient gripper pad stores deformation energy just before the gripped object starts to slip, then rapidly accelerates as it suddenly releases the energy in the springback to rest position. An accelerometer in the resilient pad (corrected for ambient acceleration by differentiation with a nearby second...http://www.google.de/patents/US4605354?utm_source=gb-gplus-sharePatent US4605354 - Slip sensitive robot gripper system
