Definition
Force-torque (F/T) sensors measure the six-axis forces and torques (Fx, Fy, Fz, Tx, Ty, Tz) at a robot's wrist or joints. This information is essential for contact-rich tasks like insertion, polishing, and assembly. F/T data enables impedance control, force-feedback teleoperation, and learning force-aware policies. In data collection, recording F/T signals alongside visual observations provides richer supervision for contact-sensitive manipulation. Strain-gauge and capacitive sensors are the two dominant technologies.
Why It Matters for Robot Teams
Understanding force-torque sensing is essential for teams building real-world robot systems. Whether you are collecting demonstration data, training policies in simulation, or deploying in production, this concept directly affects your workflow and system design.