Tactile is an important feeling of human beings. When people grasp objects, they will determine the grasping force according to the properties of the objects. Through tactile, they can sense the slipping of objects and adjust the force to grasp objects stably. Tactile sensing is also an important way for robots to interact with the external environment. In this paper, the tactile sensor is applied to the grasp of dexterous hand, and a slip detection algorithm based on t-test is proposed. The algorithm is used to design the adaptive grasping strategy of dexterous hand, which ensures that the dexterous hand can grasp with the force without damaging the object, and react after detecting the slippage in the process of grasping, so as to avoid the object falling. Finally, through the experiments of grasping objects with different characteristics, the results show that the proposed method can grasp different objects stably and safely, has good adaptability, and can be applied in different scenes.