CoinFT: A Coin-Sized, Capacitive 6-Axis Force Torque Sensor for Robotic Applications
CoinFT is a compact, light, and low-cost capacitive 6-axis force/torque sensor for various robots. It achieves multi-axis sensing by switching between 'normal mode' and 'shear mode' using dual electrode configurations. The sensor offers good precision with an RMSE of 0.16 N for force, making it suitable for applications like drones, robot end-effectors, and haptic devices.