The quality of the prehension is determined by the mobility state of the prehension object.The emphasis on sliding within the self-adaptive prehensor, proposed in the paper, is achieved by correlating the parameters generated by the rotation sensor (encoder), the contact sensor and the angular position of the stepper motor.The rotation of the encoder is influenced by the active and passive mechanical components in the prehensor jaws.In this way, it is obtained a 2D sliding sensory system. The sensory system is a complex mechatronic system that can adapt to most industrial robots of different sizes and types, including the cartesian type. The prehension of the objects is accomplished through a sensory technique which integrates all software and hardware operations to achieve the image of the two directions grip. The sensory system has a resistive position sensor in its structure which determines the angular position of the axis of rotation of the execution element. The inductive position sensor is the second sensor of the system. It highlights the mechanical tensionless contact on the prehensile object. The sliding of the object is emphasized by a resistive position sensor. An important role in programming the prehensor is the correlation between the software information from the three sensing elements with the stepper motor that achieves the force required for the prehension.