Performance evaluation of the thin-type four-axis force/moment sensor as two-times model for the robot hand’s fingertip

A multi-axis force/moment sensor that can measure force and moment is helpful for robotic force control. But the smallest multi-axis force/moment sensor has oversized height and worsens the stability of tasks. So the development is expected of a thin-type multi-axis force/moment sensor enabling a robot hand to grasp an object as if it were human. Therefore, we aim to develop a thin-type four-axis force/moment sensor that can be mounted on the finger cushion in this study. We obtained sufficient sensitivities concerning each axial direction as a result of sensitivity evaluation based on finite element analysis and a characteristics test applied to determined positions of strain gauges.