Development of a novel 6 DOF interaction force sensor for micro-gripper applications

This thesis presents the design of the mechanical and electrical structure of a novel interaction force sensor, in which a micro-gripper can be easily integrated. Independent force/torque detection in six degrees of freedom (DOF), a wide force range (a few mN) and a high resolution (at ?N and ?Nmm level) are obtained. Piezoresistors are used for...