Systems and devices for surface slip detection

A robotic arm comprising:

• a processor;
• an end effector comprising a plurality of ridges;
• a sensor configured to detect vibrations from the plurality of ridges;
• and
• a memory module storing machine-readable instructions that cause the processor to perform operations comprising:
• contacting, with the plurality of ridges, a target object;
• detecting, with the sensor, vibrations from the plurality of ridges caused by a movement between the target object and the plurality of ridges;
• determining an attribute of the movement based on the detected signals;
• and
• adjusting the end effector based on the attribute of the movement.

An end effector comprising:

• a plurality of ridges;
• a sensor configured to detect vibrations from the plurality of ridges;
• and
• a controller configured to perform operations comprising:
• contacting, with the plurality of ridges, a target object;
• detecting, with the sensor, vibrations from the plurality of ridges caused by a movement between the target object and the plurality of ridges;
• determining an attribute of the movement based on the detected signals;
• and
• adjusting the end effector based on the attribute of the movement.