Robust and Inexpensive Six-Axis Force–Torque Sensors Using MEMS Barometers

Current commercial force-torque sensors are sensitive and accurate, but are also typically expensive and fragile. These features limit their use in cost-sensitive applications and unstructured environments such as people's homes. This paper presents a new design for an inexpensive and robust force-torque sensor that uses microelectromechanical system barometer transducers. The new design results in a six-axis force-torque sensor with an R ² greater than 0.90 for F _x and F _y , and an R ² greater than 0.98 for F _z , M _x , M _y , and M _z during compound loading. Furthermore, this sensor can be assembled in two days with off-the-shelf components for less than 20 USD.