Multi-Axis Force/Torque Sensor Technologies: Design Principles  and Robotic Force Control Applications: A Review            

Abstract

The recent advancement of artificial intelligence, especially the Large Language Model and multimodal robot learning, promoted robotics development.The force/torque sensor is one of the essential components of robotics application since it is used to give the force feedback under operation.With accurate force measurement, robots can perform delicate manipulation control and safe interaction with humans.This review paper provides a comprehensive examination of force/torque sensor technologies.It highlights an in-depth analysis of sensing principles and calibration principles.In addition, the integration of the force/torque sensor and its fusion with other sensors for disturbance observer and collision detection is discussed.Some practical applications of force/torque sensors in robotics are thoroughly reviewed, illustrating their pivotal role in enhancing the functionality and interaction of robots in industrial automation, medical assistance, humanoid robotics, teleoperation, and embodied AI.Finally, the paper explores future sensor development directions.