微型电容式六维力矩传感器，精度高且成本低，适合机器人触觉交互。
CoinFT: A Coin-Sized, Capacitive 6-Axis Force Torque Sensor for Robotic Applications
- 采用双层刚性PCB与硅胶柱结构，通过分组电极检测实现六维力矩测量。
- 在0~14N正向与0~5N剪切力范围内，力误差均方根仅0.16N，力矩为1.08mNm。
- 开源设计，适用于机械臂、无人机、可穿戴设备等多场景触觉感知。
我们提出CoinFT，一种紧凑、轻量、低成本且耐用的电容式六维力/力矩（F/T）传感器。其在0~14N正向力和0~5N剪切力范围内，力测量的平均均方根误差为0.16N，力矩为1.08mNm。CoinFT由两层刚性PCB构成，带有梳状电极，通过硅橡胶柱阵列连接，微控制器分组读取电极以提升灵敏度。该设计使多种具身化机器人应用成为可能，包括无人机、机械臂末端执行器及可穿戴触觉设备。我们通过两个典型应用验证其性能：一是在半球形指尖安装的多轴接触探测实验，用于模拟操作场景中的六维力/力矩；二是无人机上的基于姿态的力控任务。CoinFT的设计、制造与固件已开源，地址为https://coin-ft.github.io/。
原文摘要 · Abstract (English)
We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16N for force and 1.08mNm for moment when the input ranges from 0~14N and 0~5N in normal and shear directions, respectively. CoinFT is a stack of two rigid PCBs with comb-shaped electrodes connected by an array of silicone rubber pillars. The microcontroller interrogates the electrodes in different subsets in order to enhance sensitivity for measuring 6-axis F/T. The combination of features of CoinFT enables various contact-rich robot interactions across different embodiment domains including drones, robot end-effectors, and wearable haptic devices. We demonstrate the utility of CoinFT through two representative applications: a multi-axial contact-probing experiment in which a CoinFT mounted beneath a hemispherical fingertip measures 6-axes of force and torque representative of manipulation scenarios, and an attitude-based force-control task on a drone. The design, fabrication, and firmware of CoinFT are open-sourced at https://coin-ft.github.io/.
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