DEVICE AND METHOD FOR DETECTING SLIP SENSE

PROBLEM TO BE SOLVED: To provide a device and method for detecting a slip sense, which detects the slip sense by using a force sensor.SOLUTION: The device for detecting the slip sense which detects a slip occurring between a component P and a contact part R4 is equipped with: the force sensor 1 which detects an external force F impressed on the contact part R4, using a strain detecting resistance element S; a signal input part 9 which inputs an initial signal of a prescribed frequency to the strain detecting resistance element S; a frequency analyzing part 62 which performs frequency analysis of a sensor output signal Vs' from the strain detecting resistance element S; and a slip sense determining part 63 which determines that the slip occurs between the component P and the contact part R4, when the intensity of a frequency component different from the frequency component of the initial signal, out of the frequency components detected in the frequency analyzing part 62 exceeds a threshold, and also determines that the slip does not occur between the component P and the contact part R4, when the intensity of the frequency component different from the frequency component of the initial signal is equal to or lower than the threshold.