A two-axis force sensor using a decoupling compliant mechanism for calibrating magnetic robots

This work involves the use of a compliant mechanism with decoupled two-axis motion as a planar force sensor. The sensor is used to measure the planar magnetic force components on the object of interest by a grid of electromagnets. Image processing is used to measure the mechanism displacements and, consequentially, the two-dimensional force components. We demonstrate the application of the 3D printed mechanism for sensing forces in the millinewton range. It is a cost-effective and quick-to-implement solution for sensing forces on a 2D plane.