Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics

Yohan Noh*, Joao Bimbo, Sina Sareh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Hongbin Liu, James Housden, Kaspar Althoefer, Kawal Rhode

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

43 Citations (Scopus)
295 Downloads (Pure)


This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption, (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges), (3) the ability to be embedded into different mechanical structures, (4) miniaturisation, (5) simple manufacture and customisation to fit a wide-range of robot systems, and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

Original languageEnglish
Article number1936
Pages (from-to)1-22
Number of pages22
JournalSensors (Switzerland)
Issue number11
Publication statusPublished - 17 Nov 2016


  • Force/torque sensor
  • Light intensity optics
  • Multi-axis force/torque
  • Optoelectronic sensors


Dive into the research topics of 'Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics'. Together they form a unique fingerprint.

Cite this