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This paper presents a novel design for a compact, lightweight 6-axisforce/torque sensor intended for use in legged robots. The design promotes easymanufacturing and cost reduction, while introducing innovative calibrationmethods that simplify the calibration process and minimize effort. The sensor'sadvantages are achieved by streamlining the structure for durability,implementing noncontact sensors, and providing a wider sensing range comparedto commercial sensors. To maintain a simple structure, the paper proposes aforce sensing scheme using photocouplers where the sensing elements are alignedin-plane. This strategy enables all sensing elements to be fabricated on asingle printed circuit board, eliminating manual labor tasks such as bondingand coating the sensing elements. The prototype sensor contains only fourparts, costs less than $250, and exhibits high response frequency andperformance. Traditional calibration methods present challenges, such as theneed for specialized equipment and extensive labor. To facilitate easycalibration without the need for specialized equipment, a new method usingoptimal control is proposed. To verify the feasibility of these ideas, aprototype six-axis F/T sensor was manufactured. Its performance was evaluatedand compared to a reference F/T sensor and previous calibration methods.

A Compact Optical Six-Axis Force/Torque Sensor for Legged Robots Using a Polymorphic Calibration Method