Speaker
Finn Grennan
(European Space Agency)
Description
Commercial 6‑axis force/torque sensors for industrial robotics typically cost £15,000–£50,000, limiting access to high‑fidelity haptic teleoperation for low‑TRL research. This work presents a £1,000, open‑source 6‑DOF force/torque sensor based on a flexure body, foil strain gauges, and 24‑bit wireless telemetry, designed for rapid prototyping using off‑the‑shelf components and validated against an ATI sensor on a KUKA 7‑DOF robot. The sensor is compatible with vacuum and inert or nitrogen atmospheres, fits within a double‑walled isolator, and enables haptic telemanipulation of regolith simulants via a Force Dimension Sigma.7 controller.
Author
Finn Grennan
(European Space Agency)