A Miniature Multiaxis Force/Torque Sensor for Acupuncture

To realize the quantitative analysis and research of traditional Chinese medicine (TCM) acupuncture manipulations, miniaturized multidimensional force sensors are necessary to measure lifting–thrusting twisting torque in process acupuncture, which records manipulations excellent physicians for relevant learn improve their manipulations. A miniature multiaxis force/torque ( ${F}/{T}$ ) sensor is developed this article. The elastomer design adopts hollow thin-wall cross beam structure with inverted notation="LaTeX">${T}$ floating beam, retains space strain gauge be pasted, reduces coupling between dimensions, improves sensitivity accuracy. This has advantages miniaturization, lightweight, high precision, convenient needle substitution. processed polyetheretherketone (PEEK) material reduce mass. First, feasibility verified by ANSYS finite element simulation. Then, hardware system based on STM32 designed signal acquisition, amplification, transmission. Next, static calibration decoupling accomplished device. results indicate that accuracy (the error less than 2%). Finally, measurement constructed complete manipulation experiment. experimental demonstrate our can accurately obtain information distinguish different verifies while realizing characterization