Novel decoupled six-axis force robot sensor

In order to get the force information on the feet of the biped robot imitating human walking and simplify the force being measuring system, a force sensor which is suitable for being mounted on the feet of the biped robot imitating human walking and force decoupled is demanded. An elastic body is designed and analyzed by ANSYS software package. According to the theory of stress measurement, a force decoupled six-axis force sensor was developed through a specified scheme of the distribution of strain gauges and the makeup of electric bridge of strain gauges. The experiment results of the prototype of the sensor are given, and they show that the sensor's sensitivity reaches 1.26 μV/N, its linearity reaches 2.0%, and the coupling or the output forces is lower than 5.0%.