Résumé
The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are numerous situations, in particular for medical applications, where environmental and sensor density requirements can pose challenges to sensor design. In our previous work, we presented a novel wireless force sensing paradigm based on wave backscattering. In this paper, we present an improved and miniaturized design suitable for wireless communications. We present an end-to-end simulation of the proposed sensor, its fabrication, modeling, and experimental validations in a wired setting. Our sensor can sense forces in the range of 0 to 6 N, with a Root Mean Square (RMS) error of 0.17 N, on average, for our two sensor prototypes, and it provides wireless compatibility in a range of frequencies adapted for use inside the human body. We present a demonstration of contact force sensing with our sensors mounted on the body of a continuum robot and show its potential to enable applications in fields such as medical robotics.