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

Research output: Contribution to journalArticlepeer-review

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

Original languageEnglish
Article number1936
Pages (from-to)1-22
Number of pages22
JournalSensors (Switzerland)
Issue number11
Accepted/In press27 Oct 2016
Published17 Nov 2016


King's Authors


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.

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