软体六维力传感器通过气腔结构实现高精度感知，适合人机交互安全场景。
Air-Chamber Based Soft Six-Axis Force/Torque Sensor for Human-Robot Interaction
- 采用硅胶气腔与16通道压力计构建软体六轴传感结构
- 测量范围达50N力和1Nm扭矩，误差低于7%
- 创新分层解耦算法降低交叉干扰，适合柔顺机器人应用
软体多轴力/力矩传感器可实现安全精确的力交互。完整捕捉六自由度力信息对六轴传感器精准测量至关重要，但轴间耦合易引发校准难题并降低精度。本文提出一种基于软性气腔结构的六轴力/力矩传感器，采用16通道压阻式传感器集成于硅橡胶弹性气室中，并设计一种基于刚-软分层结构的高效解耦方法，将六轴解耦问题简化为两个三轴解耦问题。有限元仿真与实验验证表明该方法具有良好的实际适应性。原型机在静态载荷响应、动态载荷响应及动态特性方面均完成定量评估：量程为50N力和1Nm扭矩，平均偏差、重复性、非线性与迟滞率分别为4.9%、2.7%、5.8%和6.7%。结果表明，该传感器在保持柔软性的同时具备优异的传感性能。
原文摘要 · Abstract (English)
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling can lead to calibration issues and decreased accuracy. In this instance, developing a soft and accurate six-axis sensor is a challenging task. In this paper, a soft air-chamber type six-axis force/torque sensor with 16-channel barometers is introduced, which housed in hyper-elastic air chambers made of silicone rubber. Additionally, an effective decoupling method is proposed, based on a rigid-soft hierarchical structure, which reduces the six-axis decoupling problem to two three-axis decoupling problems. Finite element model simulation and experiments demonstrate the compatibility of the proposed approach with reality. The prototype's sensing performance is quantitatively measured in terms of static load response, dynamic load response and dynamic response characteristic. It possesses a measuring range of 50 N force and 1 Nm torque, and the average deviation, repeatability, non-linearity and hysteresis are 4.9$\%$, 2.7$\%$, 5.8$\%$ and 6.7$\%$, respectively. The results indicate that the prototype exhibits satisfactory sensing performance while maintaining its softness due to the presence of soft air chambers.
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