Design and characterization of a novel, robust, tri-axial force sensor

A novel, robust, tri-axial force sensor has been developed that can be integrated into biomedical and robotic devices thanks to its size and accuracy. It features a titanium alloy body, the components of the force are separated by four basic strain sensing elements. The sensor was modeled by finite element method and the results were validated by experimental data. The sensor's diameter is 2.6 mm, its height is 2 mm. Proper signal conditioning tools were realized in software and hardware to achieve a sensitivity of 29.63 mV/N and minimum detectable force of 4.87 mN. The sensing element's structure fits electrical discharge machining technologies. The sensor was calibrated with a Nano 17 force sensor and we found that its performance is comparable to the commercial device.