Mini85 Force/Torque Sensor for Humanoid Robots


The Mini85 Sensor, a six-axis force/torque sensor developed for humanoid robot applications, is used in the ankle joint of the robot, sending force feedback to control the robot’s motion.


The Mini85 Sensor features an “E” series cable connection that offers improved strain relief. The transducer is made of hardened steel with integral parts made from aircraft aluminum. The model weighs 1.4 lb. and measures 3.35 in. in diameter by 1.17 in. in height. 


An ATI Multi-Axis Force/Torque Sensor system measures all six components of force and torque. It consists of a transducer, shielded high-flex cable, and intelligent data acquisition system or stand-alone controller. These F/T sensors give robot and research applications the ability to sense forces and moments applied in six degrees of freedom (Fx, Fy, Fz, Tx, Ty, and Tz). 


The transducer mounts behind the application tooling and is connected to its support electronics via a small-diameter, high flex, long-life cable.


Single-Axis Overload
Fxy±2,800 lbf (±13,000 N)  
Fz±6,100 lbf  (±27,000 N)
Txy±4,400 lbf-in (±500 Nm) 
Tz±5,400 lbf-in (±610 Nm)  
Stiffness (Calculated)
X-axis & Y-axis forces (Kx, Ky)4.4 x 105 lb/in (7.7 x 107 N/m)
Z-axis force (Kz)6.8 x 105 lb/in (1.2 x 108 N/m) 
X-axis & Y-axis torque (Ktx, Kty)7.2 x 105 lbf-in/rad (8.1 x 104 Nm/rad) 
Z-axis torque (Ktz)1.2 x 106 lbf-in/rad (1.3 x 105 Nm/rad) 
Resonant Frequency
Fx, Fy, Tz2,400 Hz  
Fz, Tx, Ty3,100 Hz  
Physical Specifications
Weight1.4 lb. (0.635 kg)
Diameter3.35 in. (85.1 mm)
Height1.17 in. (29.8 mm)
  • The Mini85 has a compact, low-profile design with high capacity and strain relieved cable. E-exit strain relief offers resistance to a 10 lb. (4.5 kg) cable pull force.
  • Extremely-High Strength: EDM wire-cut from high yield-strength stainless steel. Maximum allowable overload values are 5.9 to 24.9 times rated capacities.
  • High Signal-to-Noise Ratio: Silicon strain gages provide a signal 75 times stronger than conventional foil gages. This signal is amplified, resulting in near-zero noise distortion.
  • Through-Hole Version Available: An alternate version is available with a 0.79 in. (20 mm) diameter through-hole to allow passage of linkages or cables.


  • Telerobotics
  • Humanoid robots
  • Rehabilitation research
  • Prosthetics research
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