Development of a capacitive-type 6-axis force-torque sensor

Sophon Somlor, Alexander Schmitz, H. Jinsun, Tito Pradhono Tomo, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Force sensing is a crucial task for robots, especially when end effectors such as fingers and hands need to interact with unknown environments; to sense such forces, a force-torque (F/T) sensor is an essential component. In this paper, we propose a small-sized 6-axis F/T sensor with a novel arrangement of 12 transducers using the force transducer we have previously developed. The copper beryllium used in our sensor reduces hysteresis in each transducer. Additionally, the sensor provides digital output via I2C bus to reduce the susceptibility to noise, and reduce the number of required wires. Sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis are determined. More importantly, we showed that our sensor can detect and measure the 6-axis F/T.

Original languageEnglish
Title of host publicationIEEE SENSORS 2017 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages3
ISBN (Electronic)9781509010127
Publication statusPublished - 2017 Dec 21
Event16th IEEE SENSORS Conference, ICSENS 2017 - Glasgow, United Kingdom
Duration: 2017 Oct 302017 Nov 1


Other16th IEEE SENSORS Conference, ICSENS 2017
CountryUnited Kingdom



  • 6-axis
  • capacitive-type
  • force sensing
  • force-torque

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Somlor, S., Schmitz, A., Jinsun, H., Tomo, T. P., & Sugano, S. (2017). Development of a capacitive-type 6-axis force-torque sensor. In IEEE SENSORS 2017 - Conference Proceedings (Vol. 2017-December, pp. 1-3). Institute of Electrical and Electronics Engineers Inc..