An optical six-axis force/torque sensor with optimized T-beam geometry survives quadruped impacts with 0.375% drift, versus 3.93% for a commercial sensor.
A compact six-axis force/torque sensor using photo- couplers for impact robustness,
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Parameter Optimization of Optical Six-Axis Force/Torque Sensor for Legged Robots
An optical six-axis force/torque sensor with optimized T-beam geometry survives quadruped impacts with 0.375% drift, versus 3.93% for a commercial sensor.