Grasping force control for a robotic hand by slip detection using developed micro laser doppler velocimeter

Nobutomo Morita, Hirofumi Nogami, Eiji Higurashi, Renshi Sawada

    Research output: Contribution to journalArticlepeer-review

    28 Citations (Scopus)


    The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (µ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (µ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed µ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects-aluminum block, wood block, and white acrylic block-considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

    Original languageEnglish
    Article number326
    JournalSensors (Switzerland)
    Issue number2
    Publication statusPublished - Feb 2018

    All Science Journal Classification (ASJC) codes

    • Analytical Chemistry
    • Information Systems
    • Atomic and Molecular Physics, and Optics
    • Biochemistry
    • Instrumentation
    • Electrical and Electronic Engineering


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