低成本六维力传感器，组装如拼家具，精度高且可扩展。
Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector
- 用对抗弹簧+磁编码器实现六维力感知，结构简单易装。
- 无校准误差仅7%满量程，神经网络可降至3.8%。
- 适合机器人打磨、装配等需高精度力控的场景。
本文提出Delta6，一种低成本六自由度（6-DOF）力/力矩末端执行器，结合对抗弹簧与磁编码器，在保持如平板家具般简易组装的同时，实现高精度力矩感知。全3D打印原型由现成零件构成，单轴峰值力超过±14.4 N，力矩达±0.33 N·m；通过提出的参数化分析模型可进一步扩展极限。未校准时，Delta6在99百分位误差为7%满量程（FS）；采用轻量级序列模型后，最佳网络将误差降至3.8% FS。多平台基准测试表明其带宽可调，可在更新率、精度与成本间灵活权衡。耐久性、温漂及零点校准测试验证其鲁棒性。将Delta6安装于力阻抗控制的机械臂上，系统成功完成曲面抛光与精密装配两项接触密集任务。实验验证了设计的有效性，表明Delta6是现有6-DOF力感知方案的可靠、低成本替代方案。开源地址：https://wings-robotics.github.io/delta6
原文摘要 · Abstract (English)
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack furniture. A fully 3D-printed prototype, assembled entirely from off-the-shelf parts, withstands peak forces above +/-14.4 N and torques of +/-0.33 N.m per axis; these limits can be further extended by leveraging the proposed parametric analytical model. Without calibration, Delta6 attains a 99th-percentile error of 7% full scale (FS). With lightweight sequence models, the error is reduced to 3.8% FS by the best-performing network. Benchmarks on multiple computing platforms confirm that the device's bandwidth is adjustable, enabling balanced trade-offs among update rate, accuracy, and cost, while durability, thermal drift, and zero-calibration tests confirm its robustness. With Delta6 mounted on a robot arm governed by a force-impedance controller, the system successfully performs two contact-rich tasks: buffing curved surfaces and tight assemblies. Experiments validate the design, showing that Delta6 is a robust, low-cost alternative to existing 6-DOF force sensing solutions. Open-source site: https://wings-robotics.github.io/delta6 .
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