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Commercial six-axis force-torque sensors suffer from being some combinationof expensive, fragile, and hard-to-use. We propose a new fiducial-based designwhich addresses all three points. The sensor uses an inexpensive webcam and canbe fabricated using a consumer-grade 3D printer. Open-source software is usedto estimate the 3D pose of the fiducials on the sensor, which is then used tocalculate the applied force-torque. A browser-based (installation free)interface demonstrates ease-of-use. The sensor is very light and can be droppedor thrown with little concern. We characterize our prototype in dynamicconditions under compound loading, finding a mean $R^2$ of over 0.99 for the$F_x, F_y, M_x$, and $M_y$ axes, and over 0.87 and 0.90 for the $F_z$ and $M_z$axes respectively. The open source design files allow the sensor to be adaptedfor diverse applications ranging from robot fingers to human-computerinterfaces, while the sdesign principle allows for quick changes with minimaltechnical expertise. This approach promises to bring six-axis force-torquesensing to new applications where the precision, cost, and fragility oftraditional strain-gauge based sensors are not appropriate. The open-sourcesensor design can be viewed athttp://sites.google.com/view/fiducialforcesensor.

Low-Cost Fiducial-based 6-Axis Force-Torque Sensor