fig1
Figure 1. Design and analysis of the vision-based soft F/T sensor. (A) Exploded view of sensor components; (B) FEM simulation results reveal deformation patterns under six loading conditions: lateral forces (Fx and Fy), vertical force (Fz), bending moments (Tx and Ty), and torsional moment (Tz); (C) Experimental validation of soft structure deformation under corresponding forces and torques in oral care applications. F/T: Force/torque; FEM: finite element method.
