Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866917388623020032 |
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| author | Feng, Yue Huang, Weicheng Qiu, Chen Dong, Huixu Chen, I-Ming |
| author_facet | Feng, Yue Huang, Weicheng Qiu, Chen Dong, Huixu Chen, I-Ming |
| contents | This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack furniture. A fully 3D-printed prototype, assembled entirely from off-the-shelf parts, withstands peak forces above +/-14.4 N and torques of +/-0.33 N.m per axis; these limits can be further extended by leveraging the proposed parametric analytical model. Without calibration, Delta6 attains a 99th-percentile error of 7% full scale (FS). With lightweight sequence models, the error is reduced to 3.8% FS by the best-performing network. Benchmarks on multiple computing platforms confirm that the device's bandwidth is adjustable, enabling balanced trade-offs among update rate, accuracy, and cost, while durability, thermal drift, and zero-calibration tests confirm its robustness. With Delta6 mounted on a robot arm governed by a force-impedance controller, the system successfully performs two contact-rich tasks: buffing curved surfaces and tight assemblies. Experiments validate the design, showing that Delta6 is a robust, low-cost alternative to existing 6-DOF force sensing solutions. Open-source site: https://wings-robotics.github.io/delta6 . |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_06150 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector Feng, Yue Huang, Weicheng Qiu, Chen Dong, Huixu Chen, I-Ming Robotics 70B15, 93C85, 74M25 I.2.9; B.7.1; B.8.2 This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack furniture. A fully 3D-printed prototype, assembled entirely from off-the-shelf parts, withstands peak forces above +/-14.4 N and torques of +/-0.33 N.m per axis; these limits can be further extended by leveraging the proposed parametric analytical model. Without calibration, Delta6 attains a 99th-percentile error of 7% full scale (FS). With lightweight sequence models, the error is reduced to 3.8% FS by the best-performing network. Benchmarks on multiple computing platforms confirm that the device's bandwidth is adjustable, enabling balanced trade-offs among update rate, accuracy, and cost, while durability, thermal drift, and zero-calibration tests confirm its robustness. With Delta6 mounted on a robot arm governed by a force-impedance controller, the system successfully performs two contact-rich tasks: buffing curved surfaces and tight assemblies. Experiments validate the design, showing that Delta6 is a robust, low-cost alternative to existing 6-DOF force sensing solutions. Open-source site: https://wings-robotics.github.io/delta6 . |
| title | Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector |
| topic | Robotics 70B15, 93C85, 74M25 I.2.9; B.7.1; B.8.2 |
| url | https://arxiv.org/abs/2604.06150 |