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Micro Six Dimensional Force Sensor Photon Finger

In 2024, Haptron Scientific unveiled the Photon Finger, currently recognized as the world's smallest optically-based six-dimensional force sensor. For the first time, the size of a multi-dimensional force sensor has been reduced to the millimeter scale, overcoming the long-standing industry challenge of miniaturizing force sensors. The Photon Finger has a diameter of only 8.5mm and a thickness of 7mm. Thanks to its miniature size, it has successfully enabled the integration of a high-precision six-dimensional force sensor into robotic fingertips, addressing the critical issue of the lack of fingertip force sensing that has hindered the practical application of humanoid robots.

Classification:

Force and torque sensor

Key words:

Product Consulting

Product Description
Product features
Technical parameters of the product
Structure diagram of the product
Sample code

In 2024, Haptron Scientific unveiled the Photon Finger, currently recognized as the world's smallest optically-based six-dimensional force sensor. For the first time, the size of a multi-dimensional force sensor has been reduced to the millimeter scale, overcoming the long-standing industry challenge of miniaturizing force sensors. The Photon Finger has a diameter of only 8.5mm and a thickness of 7mm. Thanks to its miniature size, it has successfully enabled the integration of a high-precision six-dimensional force sensor into robotic fingertips, addressing the critical issue of the lack of fingertip force sensing that has hindered the practical application of humanoid robots.
1. Currently known as the smallest in size worldwide, with a diameter of only 8.5mm and a thickness of 7mm.

2. High performance, high sensitivity, and a wide range of measurement capabilities.

3. Communication frequency at the kilohertz level.

4. Power consumption <0.1W.

5. Resistant to high temperatures and strong magnetic fields.

Technical parameters/Technical Parameters
Range	Fz : 60N Fx=Fy : 20N Mx=My : 0.07Nm
Overload	250%F.S
Repeatability	1%F.S
Resolution	0.05N
Zero Drift	0.5%F.S
Protection Rating	IP65
Supply Voltage	DC 24V
Temperature Compensation	-10℃ ~40℃
Operating Temperature	-10℃ ~50℃
Output Signal	RS485/ Others
Sampling Frequency	1000Hz

```
 
```
#include <chrono>

#include "sensor_connector/sensor_connector.h"

#include "sensor_connector/method.h"

#ifdef _WIN32

#include <windows.h>

#define imsleep(microsecond) Sleep(microsecond) // ms

#else

#include <unistd.h>

#define imsleep(microsecond) usleep(1000 * microsecond) // ms

#endif

std::string GetTimeStamp()

{

auto timeNow = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());

long timestamp = timeNow.count();

return std::to_string(timestamp);

}

int main(int argc, const char** argv)

{

haptron::ConnectorConfig sc;

sc.sensor_type = haptron::SensorType::Photon_FINGER;

sc.com_pro = haptron::CommucationProtocol::Serial;

sc.port = std::string("/dev/ttyACM0");

haptron::SensorConnector sensor_connector(sc);

float fx, fy, fz, mx, my, mz = 0.0;

bool ret = sensor_connector.connect();

if(!ret){

return -1;

}

while (true)

{

sensor_connector.get_data(fx, fy, fz, mx, my, mz);

// auto timeNow = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());

// long timestamp = timeNow.count();

std::cout << "Time Stamped: " << GetTimeStamp() << std::endl;

haptron::photon_finger_decouple(0.0, 0.0, 0.005, fz, mx, my, fx, fy);

printf("Sensor data: %6.4f, %6.4f, %6.4f, %6.4f, %6.4f, %6.4f.\n", fx, fy, fz, mx, my, mz);

imsleep(10);

}

sensor_connector.close();

return 0;

}