A compact six-axis force/torque sensor using photocouplers for impact robustness

This paper presents a novel six-axis force/torque (F/T) sensor design for robotics, combining ease of manufacturing with compactness. It features a high measuring range of ∼3700 N, an exceptional resolution of 0.1 N, and a rapid 5 kHz sampling rate. The sensor's design, focusing on durability and a wider sensing range, utilizes noncontact sensors and a streamlined structure. A novel force sensing scheme aligns sensing elements in-plane on a single printed circuit board, reducing the part count to four and the weight to under 80 g, while integrating an analog-to-digital converter to eliminate the need for external communication devices. The lightweight, efficient prototype demonstrates a superior performance and a high response frequency, validated against a reference F/T sensor.