Flight force measurements for a micromechanical flying insect

Key to the success of the micromechanical flying insect (MFI) project is the development sensors for flight force measurement. At the lowest level of MFI control is the wing control system which relies on wing and thorax mounted force sensors. These sensors have a dual function of stroke by stroke force characterization and system identification as well as the use in feedback control for all levels. There are two methods for force sensing on a flying robotic insect: measurements directly on the thorax, and body force measurement with a trade-off in design between sensor bandwidth and sensitivity