Using an anaesthetized cat's central footpad pressed against an object as the model of a paralyzed human hand, a nerve signal recording system was developed to measure the effect of a group of consecutive slips between the footpad and the object. Electroneurographic (ENG) activity was recorded using a cuff electrode implanted around the tibial nerve. The relationship between the recorded nerve signals during consecutive slips was investigated. The analyzed results showed that the amplitude of the ENG signal corresponding to the first slip was significantly greater than subsequent slips. It was also shown that there was no significant difference in the amplitude of the ENG signal in subsequent slips. When the slip signal is used as a feedback and control signal for FES, two different thresholds or scaling factors should be applied for consecutive slips. ; Department of Health Technology and Informatics