Wood, H.2018-02-092018-02-091991-08August 199http://hdl.handle.net/10388/8413The design of a grasp control system for an existing three-fingered robot gripper is presented with the results of laboratory testing on a prototype system built for this thesis project. The system can detect when an object has been grasped by the gripper, and when the object starts to slip. It does this by sampling the sensors of the gripper fingers. Sampling can be performed on the sensors of three fingers, two fingers, or one finger. When slip has been detected, the system takes control action to stop further slip by increasing the grip on the object.Thesis