| Abstract: | Multi-dimensional force/torque sensors are relevant components for robotic interaction with humans and unknown environments. As one of the four key technologies of robots, the force sensing technique is widely used in the fields of grasping, grinding, assembly and health medical applications. In this paper, the research progress of the robot multi-dimensional force sensor is summarized. First, the state-of-the-art multi-dimensional force sensors with several common principles are introduced briefly. Second, several typical elastic elements and improvements are presented. Third, the general calibration method of the force sensor and problems in calibration are discussed. Cross-talk which is the key factor affecting the accuracy of the multi-dimensional force sensor widely exists in force sensors with various structures. Therefore, reducing or eliminating cross-talk is an indispensable item in the design of the sensor, and the research status of decoupling is reviewed in this paper. The multi-dimensional force sensor with advantageous properties is needed in dynamic force signals measurement, thus general dynamic performance analysis methods and existing compensation methods of dynamic error of the force sensor are introduced. Finally, future trends and issues to be addressed are briefly surveyed. |
