Micro Slip Velocimeter by Using Laser Doppler Effect

Abstract

A robot hand is needed for many fields, which is capable of gripping various objects without slipping as human do. Slip detection sensor is necessary for controlling robot hand without slipping, and it need to be very small to be attached to robot fingers. In this paper, We have developed an extremely-compact laser Doppler velocimeter (Micro Slip Velocimeter: MSV) as a slip detector which is capable of measuring slip velocity. We have measured object velocity at 10 μm/s to 20000 μm/s with 3types of object material: Aluminium, plastic and cardboard. The output of this sensor is independent of the measuring material. MSV has great advantages for controlling robot hand to grip objects without slipping in various material.