Six-Axis Force/Torque Sensor Developed for Humanoid Robots


The new Mini85 Sensor, a six-axis force/torque sensor developed for humanoid robot applications, is available from ATI Industrial Automation, Apex, N.C. The Mini85 Sensor required a smaller more compact sensor with a large measurement range. The sensor is used in the ankle joint of the robot, sending force feedback to control the robot’s motion.  Humanoid robots are being implemented in many applications including the service industry where they could provide personal assistance for the sick and elderly, and in dirty and dangerous jobs such as cleaning toxic waste in nuclear power plants and defusing bombs.


The Mini85 Sensor features a new “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 lbs and measures 3.35 inches in diameter by 1.17 inches in height. Max Fx, Fy is ± 200lbf, and max Tx,Ty is ± 440lbf-in. 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. ATI Mini and Nano model sensors are now offered with new “E” series cable connection as an option. All models are available with either DAQ-F/T or Controller-F/T interfaces.

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