Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics

Abstract

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption, (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges), (3) the ability to be embedded into different mechanical structures, (4) miniaturisation, (5) simple manufacture and customisation to fit a wide-range of robot systems, and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.