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：本文提出了一种新型紧凑轻量化六维力/力矩传感器设计，专门适用于足式机器人。该设计通过简化结构增强耐用性、采用非接触式传感器，并在保持与传统商用传感器相当量程的基础上提供更宽检测范围，实现了易于制造、成本降低的优势。为维持简单结构，论文提出了一种基于光耦合器的力感知方案，其中敏感元件采用共面排列方式。该策略使得所有敏感元件均可集成于单块印刷电路板上，消除了粘接、涂覆等人工操作环节。原型传感器仅由四个部件组成，成本低于250美元，并具有高响应频率和优越性能。传统标定方法存在设备专用性强、人力消耗大等难题。为在无需专用设备前提下实现简易标定，本文提出了一种基于最优控制的新方法。为验证上述方案的可行性，制作了六维力/力矩传感器原型，并将其性能与参考传感器及先前标定方法进行了对比评估。