Deformation-encoded light-field transduction enables 6-DoF optical force sensing in a 1.7 mm footprint

Résumé fourni par la source

Comprehensive six-degree-of-freedom (6-DoF) force and torque sensing is essential for robotic manipulation, micromanufacturing, and minimally invasive intervention, yet existing sensors remain limited by bulky size, complex fabrication, high cost, and susceptibility to environmental variations. Here, we report what is, to the best of our knowledge, the smallest 6-DoF optical force–torque sensor, featuring a footprint of only 1.7 mm. The device employs a deformation-encoded light-field transduction mechanism that converts external wrenches into spatially distributed optical responses within a coherent fiber bundle, enabling all six components to be inferred through a single optical channel. To address the nonlinear and cross-coupled nature of the optical–mechanical response, we introduce a latent-diffusion-based self-calibration framework that synthesizes unmeasured optical patterns and refines the mapping between light-field and mechanical loads using limited experimental data. The system achieves highly linear, repeatable, and low-hysteresis 6-DoF measurements, remains robust under temperature and bending variations, and provides real-time force and torque feedback in phantom and in-vivo-simulated palpation. These results establish an all-optical platform unifying deformation-encoded transduction with generative calibration, paving the way toward compact and low-cost optical force perception for robotic and biomedical systems.

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