A Novel Four Degree-of-Freedom Wrist Force/Torque Sensor with Low Coupled Interference

A novel four degree-of-freedom (4 DOF) wrist force/torque sensor is developed, which is mechanically decoupled. This type of wrist force/torque sensor is different from ordinary mechanically decoupled ones. It has a simple structure and small coupled interference or noise. It is easy to process and calibrate, and low in cost. This paper introduces the elastic body structure of the wrist force/torque sensor, and analyses the mechanically decoupled principle in detail