A six-axis force sensor with parallel support mechanism to measure the ground reaction force of humanoid robot

This paper describes a design of six-axis force sensor that measures ground reaction force of human or humanoid robot. The key concept is parallel support mechanisms, that allow large torques and forces which are caused when foot is hitting to the environment. Basic concept and design of parallel support mechanisms are denoted. Finally ground reaction force measurement system for human walking, and application to humanoid robot walking are described.