A slip sensor and method of sensing slip for object supporting structure such as a manipulator which includes a pair of relatively movable jaws having opposing jaw faces between which an object may be gripped are shown. At least one thermistor is located at the face of the object supporting structure,...http://www.google.fr/patents/US4637736?utm_source=gb-gplus-shareBrevet US4637736 - Slip sensing method and apparatus
