This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reduction, while introducing innovative calibration methods that simplify the calibration process and minimize effort. The sensor's advantages are achieved by streamlining the structure for durability, implementing noncontact sensors, and providing a wider sensing range compared to commercial sensors. To maintain a simple structure, the paper proposes a force sensing scheme using photocouplers where the sensing elements are aligned in-plane. This strategy enables all sensing elements to be fabricated on a single printed circuit board, eliminating manual labor tasks such as bonding and coating the sensing elements. The prototype sensor contains only four parts, costs less than $250, and exhibits high response frequency and performance. Traditional calibration methods present challenges, such as the need for specialized equipment and extensive labor. To facilitate easy calibration without the need for specialized equipment, a new method using optimal control is proposed. To verify the feasibility of these ideas, a prototype six-axis F/T sensor was manufactured. Its performance was evaluated and compared to a reference F/T sensor and previous calibration methods.

翻译：本文提出了一种用于地面机器人的、结构紧凑且轻量化的六维力/力矩传感器创新设计方案。该设计在促进简易制造和降低成本的同时，引入创新校准方法以简化校准流程并减少工作量。与商业传感器相比，其优势在于：通过简化结构实现高耐用性、采用非接触式传感器，并具备更宽的传感范围。为保持结构简洁，本文提出一种使用光电耦合器的力传感方案，其中传感元件共面排列。该策略使所有传感元件可集成于单块印刷电路板上，从而省去了粘合、涂覆等人工操作。样机仅由四个部件构成，成本低于250美元，且具备高响应频率与优良性能。传统校准方法存在需专用设备及大量人工等挑战。为此，本文提出一种基于最优控制的新型校准方法，无需专用设备即可便捷完成校准。为验证可行性，制作了六维力/力矩传感器样机，并对其性能进行了评估，同时与参考传感器及以往校准方法进行了对比。