{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T19:08:26Z","timestamp":1773947306583,"version":"3.50.1"},"reference-count":51,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2016,11,17]],"date-time":"2016-11-17T00:00:00Z","timestamp":1479340800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a multi-axis force\/torque sensor based on simply-supported beam and optoelectronic technology. The sensor\u2019s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force\/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human\u2013robot interaction. This paper shows the application of our concept of a force\/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.<\/jats:p>","DOI":"10.3390\/s16111936","type":"journal-article","created":{"date-parts":[[2016,11,17]],"date-time":"2016-11-17T10:11:30Z","timestamp":1479377490000},"page":"1936","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":56,"title":["Multi-Axis Force\/Torque Sensor Based on Simply-Supported Beam and Optoelectronics"],"prefix":"10.3390","volume":"16","author":[{"given":"Yohan","family":"Noh","sequence":"first","affiliation":[{"name":"Department of Informatics, King\u2019s College London, London WC2R 2LS, UK"},{"name":"Department of Biomedical Engineering, King\u2019s College London, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4720-9026","authenticated-orcid":false,"given":"Joao","family":"Bimbo","sequence":"additional","affiliation":[{"name":"Instituto Italiano di Tecnologia (IIT), Genova 16163, Italy"}]},{"given":"Sina","family":"Sareh","sequence":"additional","affiliation":[{"name":"Department of Aeronautics, Imperial College London, London SW7 2AZ, UK"}]},{"given":"Helge","family":"Wurdemann","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University College London, London WC1E 7JE, UK"}]},{"given":"Jan","family":"Fra\u015b","sequence":"additional","affiliation":[{"name":"Industrial Research Institute for Automation and Measurements, Warsaw 02-486, Poland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6950-1848","authenticated-orcid":false,"given":"Damith","family":"Chathuranga","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Moratuwa, Katubadda, Moratuwa 10400, Sri Lanka"}]},{"given":"Hongbin","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Informatics, King\u2019s College London, London WC2R 2LS, UK"}]},{"given":"James","family":"Housden","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, King\u2019s College London, London SE1 7EH, UK"}]},{"given":"Kaspar","family":"Althoefer","sequence":"additional","affiliation":[{"name":"ARQ\u2014Advanced Robotics @ Queen Mary Faculty of Science and Engineering Queen Mary University of London, Mile End Rd, London E1 4NS, UK"}]},{"given":"Kawal","family":"Rhode","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, King\u2019s College London, London SE1 7EH, UK"}]}],"member":"1968","published-online":{"date-parts":[[2016,11,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"709","DOI":"10.3390\/s140100709","article-title":"Micro-vibration-based slip detection in tactile force sensors","volume":"14","author":"Fernandez","year":"2014","journal-title":"Sensors"},{"key":"ref_2","unstructured":"Cannata, G., and Maggiali, M. 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