A Redundant-Sensing-Based Six-Axis Force/Torque Sensor Enabling Compactness and High Sensitivity.

Seung Yeon Lee^1,2, Jae Yoon Sim^1,2, Dong-Yeop Seok², Yong Bum Kim², Jaeyoon Shim¹, Uikyum Kim³, Hyouk Ryeol Choi^1,2

¹Department of Mechanical Engineering, Sungkyunkwan University, Suwon-si 16419, Republic of Korea.

²AIDIN ROBOTICS Inc., Anyang-si 14055, Republic of Korea.

³Department of Mechanical Engineering, Ajou University, Suwon-si 16499, Republic of Korea.

PubMed PMC DOI PDF

Abstract

Capacitive sensors are widely adopted in compact robotic systems due to their simple structure, ease of fabrication, and scalability for miniaturized designs. However, sensor miniaturization inevitably leads to reduced sensitivity and increased sensitivity imbalance, particularly in torque measurements, due to limited electrode area and spatial constraints. To address these limitations, this paper…

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