# US 2023/0264366 A1 · Systems and devices for surface slip detection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0264366 A1 - Document ID: US20230264366A1 - Status: Published application - Kind: A1 - Application number: 17/678,227 - Filed: 2022-02-23 - Published: 2023-08-24 - Earliest claimed: 2022-02-23 - Assignees: Toyota Research Institute, Inc. - Applicants: Toyota Research Institute, Inc. - Inventors: Alexander Alspach; Andrew Beaulieu; Avinash Uttamchandani - Web page: https://patentgrep.com/patent/US20230264366A1 ## CPC - B25J 13/083: {fitted with slippage detectors} - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 15/0033: {with gripping surfaces having special shapes} - B25J 15/0042: {V-shaped gripping surfaces} - G05B 2219/37351: Detect vibration, ultrasound - G05B 2219/37388: Acceleration or deceleration, inertial measurement - G05B 2219/37434: Measuring vibration of machine or workpiece or tool - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A system includes a processor, a robotic arm comprising an end effector, wherein the end effector comprises a plurality of ridges, a sensor configured to detect vibrations from the plurality of ridges, and a memory module. The memory module stores machine-readable instructions that cause the processor to perform operations including 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. ## Claims ### Claim 1 A system comprising: a processor; a robotic arm comprising an end effector, wherein the end effector comprises 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. ### Claim 2 (depends on 1) The system of claim 1, wherein the plurality of ridges are concentric shapes extending from a surface of the end effector. ### Claim 3 (depends on 1) The system of claim 1, wherein the plurality of ridges are waves extending from a surface of the end effector. ### Claim 4 (depends on 1) The system of claim 1, wherein the plurality of ridges are a non-uniformly distributed group of lines extending from a surface of the end effector. ### Claim 5 (depends on 1) The system of claim 1, wherein the plurality of ridges are a uniformly distributed group of lines extending from a surface of the end effector. ### Claim 6 (depends on 1) The system of claim 1, wherein a surface of the end effector forms the plurality of ridges. ### Claim 7 (depends on 1) The system of claim 1, wherein the detecting comprises detecting movement with an inertial measurement unit. ### Claim 8 (depends on 1) The system of claim 1, wherein the detecting comprises detecting sound with a microphone. ### Claim 9 (depends on 1) The system of claim 1, wherein the attribute comprises at least one of a direction or a magnitude of the movement. ### Claim 10 (depends on 1) The system of claim 1, wherein the machine-readable instructions cause the processor to perform operations further comprising: receiving a training data set comprising a plurality of vibration data and a plurality of attributes corresponding to the plurality of vibration data; and training a machine learning model based on the training data set; wherein: the determining the attribute of the movement based on the detected signals is based on the trained machine learning model. ### Claim 11 (depends on 1) The system of claim 1, wherein the machine-readable instructions cause the processor to perform operations further comprising outputting a vibration from an output device to amplify the vibrations from the plurality of ridges. ### Claim 12 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. ### Claim 13 (depends on 12) The robotic arm of claim 12, wherein the plurality of ridges are a non-uniformly distributed group of lines extending from a surface of the end effector. ### Claim 14 (depends on 12) The robotic arm of claim 12, wherein the plurality of ridges are a uniformly distributed group of lines extending from a surface of the end effector. ### Claim 15 (depends on 12) The robotic arm of claim 12, wherein a surface of the end effector forms the plurality of ridges. ### Claim 16 (depends on 12) The robotic arm of claim 12, wherein the attribute comprises at least one of a direction or a magnitude of the movement. ### Claim 17 (depends on 12) The robotic arm of claim 12, wherein the machine-readable instructions cause the processor to perform operations further comprising: receiving a training data set comprising a plurality of vibration data and a plurality of attributes corresponding to the plurality of vibration data; and training a machine learning model based on the training data set; wherein: the determining the attribute of the movement based on the detected signals is based on the trained machine learning model. ### Claim 18 (depends on 12) The robotic arm of claim 12, wherein the machine-readable instructions cause the processor to perform operations further comprising outputting a vibration from an output device to amplify the vibrations from the plurality of ridges. ### Claim 19 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. ### Claim 20 (depends on 19) The end effector of claim 19, further comprising an output device for outputting a vibration to amplify the vibrations from the plurality of ridges.