Jacq, CarolineLüthi, BarthélémyMaeder, ThomasLambercy, OlivierGassert, Roger2009-09-112009-09-11200910.1016/j.proche.2009.07.316https://infoscience.epfl.ch/handle/20.500.14299/42582WOS:000275995600098A complete six–degree-of-freedom (6-DOF) force / torque sensor has been designed and fabricated for wrist rehabilitation applications, with the focus laid on simple, straightforward manufacturing processes. This paper details the mechanical design, 3D-modeling, manufacture and characterisation of the sensor. Compared to previous work, this design has the advantage of simple, fully planar machining, and the load-sensing elements all lie on the same plane, making the device compatible with single-film deposition or a foil bonding process. The sensor was machined from steel, and the piezoresistive load-sensing bridges were deposited using thick-film technology. We used commercial thick-film materials in a first time. A new lead-free materials system compatible with low processing temperatures (<700°C) will shortly replace the commercial one and is expected to eventually also be adaptable to aluminium substrates.Force sensor6 DOFthick-film technologyrehabilitationsteelcouches épaissestext::conference output::conference proceedings::conference paper