- Chapter 1: Introduction

Chapter 2: Two Dimensional Beam Bundle Model of a Frictional Sliding Soft Fingertip

Chapter 3: Three-Dimensional Beam Bundle Model of a Sliding Soft Fingertip

Chapter 4: Modeling of a Sliding Human Fingertip

Chapter 5: Tactile Sensing via Micro Force/Moment Sensor

Chapter 6: Slip Perception via Soft Robotic Skin Made of Electroconductive Yarn

Chapter 7: Slip Perception using a Tactile Array Sensor

Chapter 8: Concluding Remarks

Appendix A: Continuous Modeling 2D Elastic Deformation

Appendix B: Numerical Integration of Ordinary Differential Equations

Appendix C: Integral over Triangle.