This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack furniture. A fully 3D-printed prototype, assembled entirely from off-the-shelf parts, withstands peak forces above +/-14.4 N and torques of +/-0.33 N.m per axis; these limits can be further extended by leveraging the proposed parametric analytical model. Without calibration, Delta6 attains a 99th-percentile error of 7% full scale (FS). With lightweight sequence models, the error is reduced to 3.8% FS by the best-performing network. Benchmarks on multiple computing platforms confirm that the device's bandwidth is adjustable, enabling balanced trade-offs among update rate, accuracy, and cost, while durability, thermal drift, and zero-calibration tests confirm its robustness. With Delta6 mounted on a robot arm governed by a force-impedance controller, the system successfully performs two contact-rich tasks: buffing curved surfaces and tight assemblies. Experiments validate the design, showing that Delta6 is a robust, low-cost alternative to existing 6-DOF force sensing solutions. Open-source site: https://wings-robotics.github.io/delta6 .

翻译：本文提出Delta6——一种低成本六自由度（6-DOF）力/力矩末端执行器，它将拮抗弹簧与磁编码器相结合，既能实现精确的力旋量感知，又像平板家具一样易于组装。全3D打印的原型完全由现成零部件组装而成，可承受超过±14.4 N的峰值力和每轴±0.33 N·m的扭矩；通过利用所提出的参数化分析模型，这些极限可以进一步扩展。未经校准的情况下，Delta6的99百分位误差为满量程（FS）的7%。采用轻量级序列模型后，性能最优网络将误差降低至3.8% FS。在多个计算平台上的基准测试证实该设备的带宽可调，能够实现更新速率、精度和成本之间的平衡取舍，而耐久性、热漂移和零位校准测试则验证了其鲁棒性。将Delta6安装在由力阻抗控制器控制的机器人手臂上后，系统成功完成了两项高接触任务：曲面抛光与精密装配。实验结果验证了设计有效性，表明Delta6是现有六自由度力传感解决方案的一种鲁棒且低成本的替代方案。开源网址：https://wings-robotics.github.io/delta6。