Force/Torque Sensor
What is Force/Torque Sensor in Humanoid Robotics?
Sensors that measure forces and torques applied at robot joints or end-effectors.
Enable safe human interaction and delicate object manipulation by detecting contact forces, preventing damage to objects or people.
How Force/Torque Sensor Works
Force/torque sensors typically use strain gauges arranged in a Wheatstone bridge configuration. When force is applied, the sensor structure deforms slightly, changing the electrical resistance of the strain gauges. This resistance change is measured and converted to force values along three axes (Fx, Fy, Fz) and torque values around three axes (Tx, Ty, Tz), creating a six-axis sensor. The control system monitors these values in real-time, adjusting robot behavior when unexpected forces are detected - stopping motion during collisions or modulating grip strength when handling fragile objects.
Applications in Humanoid Robots
Force/torque sensors enable compliant robot behavior during physical human-robot interaction. In assembly tasks, robots detect when parts are properly seated by monitoring insertion forces. During collaborative work, sensors trigger emergency stops if collision forces exceed safe thresholds. Precision manipulation tasks use force feedback to handle delicate items like eggs or electronics without damage. Medical robots use force sensing for safe patient interaction. Polishing and grinding operations maintain consistent contact force for quality results.
