We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16N for force and 1.08mNm for moment when the input ranges from 0~14N and 0~5N in normal and shear directions, respectively. CoinFT is a stack of two rigid PCBs with comb-shaped electrodes connected by an array of silicone rubber pillars. The microcontroller interrogates the electrodes in different subsets in order to enhance sensitivity for measuring 6-axis F/T. The combination of features of CoinFT enables various contact-rich robot interactions across different embodiment domains including drones, robot end-effectors, and wearable haptic devices. We demonstrate the utility of CoinFT through two representative applications: a multi-axial contact-probing experiment in which a CoinFT mounted beneath a hemispherical fingertip measures 6-axes of force and torque representative of manipulation scenarios, and an attitude-based force-control task on a drone. The design, fabrication, and firmware of CoinFT are open-sourced at https://coin-ft.github.io/.

翻译：本文介绍CoinFT，一种紧凑、轻量、低成本且坚固耐用的电容式六轴力/扭矩传感器。当法向与剪切方向的输入范围分别为0~14N和0~5N时，其平均均方根误差为0.16N（力）与1.08mNm（力矩）。CoinFT由两片带有梳状电极的刚性PCB堆叠而成，通过一组硅橡胶柱连接。微控制器对不同电极子集进行轮询检测，以提升测量六轴力/扭矩的灵敏度。CoinFT的综合特性使其能够支持多种高接触需求的机器人交互应用，涵盖无人机、机器人末端执行器及可穿戴触觉设备等不同载体领域。我们通过两个代表性应用展示CoinFT的实用性：一是多轴向接触探测实验，将CoinFT安装在半球形指尖下方，测量代表操控场景的六轴力与扭矩；二是基于姿态的无人机力控任务。CoinFT的设计、制造与固件已在https://coin-ft.github.io/开源。