In　this　paper,　according　to　the　old　people＇s　physical　characteristics　and　their　technical　requirements　for　comfort　and　mastery　when　operating　the　robot,　a　detection　and　recognition　method　of　tactile　and　slip　senses　is　proposed　that　used　to　control　the　Elderly-assistant　&　Walking-assistant　Robot.　First,　on　the　basis　of　the　proposed　drive　control　system　program　of　tactile　and　slip,　detection　system　of　tactile　and　slip　senses　is　designed.　And　then,　based　on　the　tactile　and　slip　feature　representation　and　extraction,　an　improved　classification　and　recognition　method　is　proposed　that　K-nearest　neighbor　(KNN)　algorithm　are　combined　with　K-means　algorithm.　In　the　end,　through　many　online　and　offline　experimental　analysis,　the　results　show　that　the　tactile　and　slip　senses　detection　and　recognition　method　is　effective,　and　it　can　realize　the　robot＇s　driving　control.　©　2012　IEEE.