Abstract: A system for determining a slip condition includes at least one soft sensor element, where each soft sensor element has a sensor and a deformable element. The deformable element can be deformed by force and includes at least one element that interacts with the sensor to generate data indicative of the applied force through the deformation of the deformable element. The deformable element extends at least partially between the sensor and the interacting element, along with a processing means. The processing means is configured to receive data from the soft sensor element and determine if a slip condition exists based on the received data. A method is provided that utilizes the system.