Performance Improvement of a 6-Axis Force-torque Sensor via Novel Electronics and Cross-shaped Double-hole Structure

Performance of a force-torque sensor is affected significantly by an error signal that is included in the sensor signal. The error sources may be classified mainly into two categories: one is a structural error due to inaccuracy of sensor body, and the other is a noise signal existing in sensed information. This paper presents a principle of 6-axis force-torque sensor briefly, a double-hole structure to be able to improve a structural error, and then a signal conditioning to reduce the effect of a noise signal. The validity of the proposed method is investigated through experimental study, which shows that S/N ratio is improved significantly in our experimental setup, and the sensor can be implemented cheaply with reasonable performance.

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