发表机构
University of California Santa Cruz（加州大学圣克鲁兹分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究提出PinFT这种可嵌入镊子状工具的微型五轴电容式力/扭矩传感器，通过三层印刷电路板堆叠等实现五自由度力和扭矩传感，经校准有高精度，集成该传感器的镊子在多项操作任务中能可靠捕捉特征力信号，助力夹爪夹具监测解释精细操作。
AI 中文摘要
我们展示了PinFT，一种微型五轴电容式力/扭矩传感器，专为直接集成到镊子状工具的尖端而设计。该传感器采用紧凑的三层印刷电路板堆叠，带有分段镀通孔电极和硅橡胶介电材料，通过中心直径2毫米的不锈钢销的位移实现五自由度力和扭矩传感（$F_x$、$F_y$、$F_z$、$T_x$、$T_y$）。制造的原型使用高阶多项式映射进行校准，力的平均绝对误差约为0.23 N，扭矩的平均绝对误差约为2.5 mN·m，所有轴的决定系数（$R^2$）超过0.97。为展示实际效用，将在两个尖端集成PinFT传感器的3D打印镊子安装在平行夹爪夹具上，并在三个代表性操作任务中进行评估：抓取亚毫米级SMD电容器、从硅树脂基板上拔下模拟毛发以及撕开柔性硅树脂样本。在所有情况下，每个尖端的力传感都能可靠地捕捉到区分成功操作与失败事件（包括滑动和物体弹出）的特征力信号，使用从内部抓握力和净相互作用力导出的基于梯度的特征。这些结果表明，直接的每个尖端力传感使标准平行夹爪夹具能够监测和解释通过手持镊子执行的精细操作任务。
英文摘要
We present PinFT, a miniature five-axis capacitive force/torque sensor designed for direct tip-level integration into tweezer-like tools. The sensor employs a compact three-PCB stack with segmented plated through-hole electrodes and a silicone elastomer dielectric, enabling five-degree-of-freedom force and torque sensing ($F_x$, $F_y$, $F_z$, $T_x$, $T_y$) through displacement of a central 2\,mm-diameter stainless steel pin. The fabricated prototype was calibrated using a higher-order polynomial mapping, yielding mean absolute errors of approximately 0.23\,N for forces and 2.5\,mN$\cdot$m for torques, with coefficients of determination ($R^2$) exceeding 0.97 across all axes. To demonstrate practical utility, a 3D-printed tweezer integrating PinFT sensors at both tips was mounted on a parallel-jaw gripper and evaluated across three representative manipulation tasks: grasping a sub-millimeter SMD capacitor, pulling a simulated hair from a silicone substrate, and tearing a compliant silicone specimen. In all cases, per-tip force sensing reliably captured characteristic force signatures that distinguish successful manipulation from failure events -- including slip and object ejection -- using gradient-based features derived from internal grasp force and net interaction force. These results demonstrate that direct, per-tip force sensing enables standard parallel-jaw grippers to monitor and interpret fine manipulation tasks performed through a handheld tweezer.
