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《Journal of Transducer Technology》 1991-04
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A New Type Robot with a 6D Wrist Force Sensor

Hu Jianyuan Huang Xinhan (Huazhong University of Science and Technology)  
A robot with a 6-D wrist force sensor (HUST-FS6) is presented. The sensor is of 3-beam nonradial symmetry strueture. All its characteristics are satisfactory. By installing the sensor on the robot wrist, we have succeeded in the experiment on robot's movement following the surrounding enviroment.
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