Development of compact high dynamic range six-axis force sensor with cross-arch structure

Abstract

This paper proposes a compact High Dynamic Range (HDR) six-axis Force/Torque(F/T) sensor. It is important for robots to acquire environment information based on accurate force sensing to perform operations in various environment. However, it is a problem that no compact size F/T sensors with high dynamic range exist. Therefore, a compact HDR six-axis F/T sensor with a new cross-arch structure was developed. The F/T sensor showed high linearity with respect to force component and it was possible to remove the inter axis interference component by calibration. It was also shown that this F/T sensor detect 0.2N to 500N force.