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Scientists Discover Way to Send Information into Black Holes Without Using Energy

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This Ultra-Thin Sensor Lets Robots & Prosthetic Limbs Feel Force and Torque With Incredible Precision

Miniature force and torque sensors are becoming increasingly important as robots and wearable devices become smaller, smarter, and more capable. These sensors help machines understand how much force is being applied, in which direction, and whether an object is being twisted or moved. Such information is especially valuable for delicate robotic tasks, prosthetics, exoskeletons, and medical rehabilitation.

However, building a small sensor that can accurately measure forces and torque in multiple directions is not easy. Conventional six-axis sensors often depend on complicated structures made from several beams and components. They also require extensive calibration and computer-based algorithms to separate the different force and torque signals. These challenges can increase manufacturing complexity, size, cost, and the possibility of measurement errors.

A research team led by Gong has introduced a different approach. Instead of assembling several mechanical components, the team developed a monolithic six-axis force/torque sensor made from a single ultrathin piezoceramic shell. The new design uses the natural deformation of the shell itself to distinguish different types of mechanical loading. This allows the sensor to measure dynamic forces and torque directly, with much less dependence on complicated signal-processing methods.

A Simpler Approach to Six-Axis Sensing

A six-axis force/torque sensor measures three types of force and three types of torque. Forces can act along three directions, while torque describes twisting around those same three axes. Measuring all six components simultaneously is useful in applications where objects and human joints move continuously in different directions.

Traditional sensors generally use multiple beams or sensing elements. Although these designs can provide accurate measurements, they can also be difficult to manufacture and calibrate. Because forces in one direction may influence measurements in another direction, additional algorithms are often required to “decouple” the signals.

Gong and the research team approached the problem from a different angle. Their sensor is built as one continuous mechanical structure. The carefully engineered shell deforms in different ways when different forces or torques are applied. These deformation modes provide a natural way to distinguish the six mechanical components.

The result is an inherently decoupled sensing architecture. Instead of relying heavily on software to correct interactions between signals, the mechanical structure itself helps separate them.

An Ultrathin Piezoceramic Shell

At the heart of the sensor is an annular piezoceramic shell just 50 micrometers thick. Piezoceramic materials are useful for sensing because they generate an electrical response when mechanically deformed.

The researchers made the shell extremely thin to increase its sensitivity. A thinner structure can respond to very small mechanical changes, allowing the sensor to detect subtle forces and torque.

Despite its tiny size, the sensing element can detect forces at remarkably low levels. The reported detection limits are better than 3 millinewtons for normal force, 4 millinewtons for tangential force, and 0.3 millinewton-meters for torque.

These capabilities are particularly important for robots and wearable systems. A robot handling fragile objects, for example, needs to know the difference between a gentle contact and excessive pressure. Similarly, a rehabilitation device needs to detect small changes in the forces generated by a person's movement.

High Accuracy Without Complicated Decoupling

One of the most notable results of the research is the sensor's ability to separate different force and torque components accurately.

The researchers tested the system using 120,000 randomized dynamic tests and achieved a reported 99.37% decoupling accuracy. This high accuracy indicates that the sensor can distinguish different mechanical inputs even under changing dynamic conditions.

This is important because real-world applications rarely involve perfectly controlled forces. Robots move, objects shift, and human bodies continuously change position. A sensor that works well only under static or predictable conditions would have limited practical value.

By using the shell's intrinsic mechanical behavior, the new architecture offers a more direct route to reliable dynamic measurement.

Small Size, Big Possibilities

The complete sensor weighs only 3.85 grams and occupies approximately 2.53 cubic centimeters. Its compact size makes it suitable for applications where space and weight are major concerns.

One demonstrated application is robotic gripping. A robotic gripper equipped with the sensor can detect mechanical events during delicate assembly tasks. Instead of continuously processing large amounts of sensor data, the system can respond to important changes in force and torque as they occur.

This type of event-driven sensing could make robots more responsive while helping them handle delicate components more safely. It could also reduce unnecessary computational demands in some robotic systems.

Supporting Wearable Rehabilitation

The researchers also demonstrated the sensor's potential in exoskeletons designed for rehabilitation. Wearable medical devices need accurate information about how a person's body is moving and how much force is being generated.

A lightweight, compact, and sensitive six-axis sensor can provide detailed information without adding significant weight to the wearable system. This could help monitor movement during rehabilitation exercises and provide clinicians or intelligent systems with more accurate information about a patient's progress.

In-home rehabilitation is particularly promising. Instead of relying entirely on clinical visits, wearable devices could continuously monitor movement and mechanical forces during exercises performed at home. Such high-fidelity data could eventually support more personalized rehabilitation programs.

Beyond Robotics

The potential applications extend beyond industrial robots and rehabilitation exoskeletons. The same sensing concept could be valuable in prosthetic devices, human-machine interfaces, surgical robotics, and personalized medical technologies.

Prosthetic limbs, for instance, need to respond to forces in multiple directions while remaining lightweight and compact. A miniature six-axis sensor could help provide better feedback about contact and movement.

In advanced robotic systems, force and torque information can also improve interaction between machines and humans. Robots designed to work closely with people need to understand physical contact accurately so that they can respond safely and naturally.

A New Direction for Miniature Sensors

The importance of Gong and the team's work lies not only in the sensor's impressive specifications but also in its design philosophy. Instead of making increasingly complicated mechanical systems and then relying on sophisticated algorithms to correct their behavior, the researchers engineered the mechanical structure to perform much of the separation naturally.

The monolithic construction also eliminates the need for assembling multiple sensing components, potentially simplifying manufacturing and calibration.

The combination of small size, high sensitivity, strong decoupling accuracy, and straightforward calibration makes this architecture particularly attractive for next-generation sensing systems.

As robotics and wearable technology continue moving toward smaller and more intelligent devices, sensors must become equally compact and capable. The ultrathin piezoceramic shell developed by Gong and the team demonstrates how careful mechanical design can address some of the biggest challenges in multi-axis sensing.

Ultimately, this work points toward a future in which miniature sensors can provide rich mechanical information without requiring bulky structures or complicated correction algorithms. From delicate robotic assembly to wearable rehabilitation and advanced prosthetics, such technology could help machines and medical devices interact with the physical world with greater precision, sensitivity, and reliability.

Reference: Gong, S., Wei, X., Zhou, Q. et al. Monolithic 6-Axis Force/Torque Sensing by a Single Ultrathin Piezoceramic Shell. Nat Commun (2026). https://doi.org/10.1038/s41467-026-75631-3

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