A novel thin six-dimensional wrist force/torque sensor with isotropy

Force sensors play a key role in the modern technological world, which can measure force information required for mechatronic systems used in automated manufacturing environments to function effectively and make intelligent decisions. Aim to decrease the additional torque originated from the height of the sensors, we design a thin six-dimensional force senor which is only 15 mm high. The sensor has a simple geometry in the form of double E-type membranes connected with four thin rectangle slices. The sensor also possesses the advantages such as configurational simplicity, isotropic and high sensitivity.