Design and Validation of a Resonant Multi-Axis Force Sensor for Collaborative Robotics

Abstract

This paper presents the design and characterization of a new multi-axis force/torque sensor based on resonant technology. This sensor is capable of simultaneously estimating the three force components as well as the three torque components. It is designed for use in collaborative robotics applications and can be integrated into handles or grippers of robotic manipulators to estimate interactions between robots and humans. Compared to the technologies currently in use and based on strain gauges, this system offers many advantages, particularly in terms of both safety and redundancy. This paper describes the design of this sensor and then compares the prototype to a state-of-the-art commercial sensor. Comparisons show that the proposed technology is at least as efficient as the industrial system, although its dimensions remain slightly larger.