Aiming at the demands of low-range and high resolution on multi-D force sensor in force information acquisition during force sensing surgery

the structure of routine cross 6-D force sensor is improved and a low dimension coupling and small scale 6-D force sensor with glide structure is designed.The mechanism which curb the dimension coupling of sensor structure is analyzed

and stress deformation is analyzed by finite element method.The calibration experiment demonstrates the non-linear error and dimension coupling error of the new sensor are lower than 2 %

which show its characteristic of high sensitivity

high resolution and low-dimensional coupling.