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Monolithic 6-Axis Force/Torque Sensing by a Single Ultrathin Piezoceramic Shell
Shoulu Gong1,2,3, Xingyu Wei2, Qi Zhou1
1Global College, Shanghai Jiao Tong University, Shanghai, China.
Nature Communications
|July 21, 2026
Summary
Researchers developed a novel monolithic 6-axis force/torque sensor using a single piezoceramic shell. This design simplifies calibration and assembly for advanced robotics and wearable devices.
Area of Science:
- Materials Science
- Robotics Engineering
- Sensor Technology
Background:
- Miniature multi-axis force/torque sensors are crucial for robotics and wearables.
- Current sensors face challenges with complex assembly and calibration.
Purpose of the Study:
- To introduce a novel monolithic 6-axis force/torque sensor.
- To overcome limitations of existing sensor designs.
Main Methods:
- Fabricated a monolithic sensor from a single, ultrathin-walled piezoceramic shell.
- Utilized intrinsic mechanical deformation modes for direct measurement.
- Achieved high decoupling accuracy through engineered shell architecture.
Main Results:
- Demonstrated a 99.37% decoupling accuracy over 120,000 tests.
- Achieved detection limits of <3 mN (normal force), <4 mN (tangential force), and <0.3 mN·m (torque).
- Developed a compact, 3.85-gram sensor (2.53 cm³).
Conclusions:
- The monolithic piezoceramic shell architecture enables inherently decoupled force/torque sensing.
- The sensor is suitable for delicate robotic assembly and exoskeleton monitoring.
- This technology has broad applications in advanced robotics, prosthetics, and personalized medicine.
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