Robust and Inexpensive Six-Axis Force–Torque Sensors Using MEMS Barometers

Abstract

Current commercial force–torque sensors are sensitive and accurate, but are also typically expensive and fragile. These features limit their use in cost-sensitive applications and unstructured environments such as people's homes. This paper presents a new design for an inexpensive and robust force–torque sensor that uses microelectromechanical system barometer transducers. The new design results in a six-axis force–torque sensor with an $R^2$ greater than 0.90 for F $_{x}$ and F $_{y}$ , and an $R^2$ greater than 0.98 for F $_{z}$ , M $_{x}$ , M $_{y}$ , and M $_{z}$ during compound loading. Furthermore, this sensor can be assembled in two days with off-the-shelf components for less than 20 USD.