Abstract: A system for occlusion detection, including a cartridge containing an infusate, a plunger driven by a drive mechanism configured to be advanced within the cartridge to expel infusate from the cartridge, a force sensor configured to sense an actual force exerted by the plunger, and a control unit configured to determine an estimated force based on an expected decay in frictional force between the plunger and the cartridge for comparison to the actual force sensed by the force sensor, wherein a deviation between the estimated force and the actual force exceeding a threshold triggers an occlusion alarm.