This paper presents a novel design of a fingertip mechanism for detecting the slippage of the grasped object under two different types of dynamic load. This design is to be used with an underactuated triple finger artificial hand based on pulleys-tendon mechanism and the grasped object is designed in a prism shape with three DC motors with unbalance rotating mass to generate the excitation in the object, these motors are distributed symmetrically on the faces of the object. This prism shaped object is connected to a rope type pulling system to force the object to slip under quasi-static load condition. The mathematical modeling has been derived for the proposed design to generate the signal of contact force components ratio through using the conventional sensors signals with the aid of matlab–simulink software. The experimental results are discussed in comparison with the physical aspect of slippage phenomenon and they show good agreement with the physical definition of the slippage phenomenon.