# CoinFT: A Coin-Sized, Capacitive 6-Axis Force Torque Sensor for Robotic Applications

arXiv: https://arxiv.org/abs/2503.19225 · HTML: https://mlsanity.com/paper/2503.19225/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Mar 2025.

## Built on by (most cited first, 5 of 5)

- [Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections](https://mlsanity.com/paper/2506.16685/) (2025)
- [FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning](https://mlsanity.com/paper/2606.12406/) (2026)
- [TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models](https://mlsanity.com/paper/2606.29089/) (2026)
- [Frequency-aware decomposition learning for sensorless wrench estimation in vibration-rich robotic contact](https://mlsanity.com/paper/2604.12905/) (2026)
- [Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation](https://mlsanity.com/paper/2605.28812/) (2026)

## Abstract (arXiv)

We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16 N for force and 1.08 mN m for moment when the input ranges from 0-14 N and 0-5 N in normal and shear directions, respectively. CoinFT is a stack of two rigid PCBs with comb-shaped electrodes connected by an array of silicone rubber pillars. A microcontroller interrogates the electrodes in different subsets in order to enhance sensitivity for measuring 6-axis F/T. The combination of features of CoinFT enables various contact-rich robot interactions across different embodiment domains including drones, robot end-effectors, and wearable haptic devices. We demonstrate the utility of CoinFT through two representative applications: a multi-axial contact-probing experiment in which a CoinFT mounted beneath a hemispherical fingertip measures 6-axis force and torque representative of manipulation scenarios, and a force-control task on a drone. The design, fabrication, and firmware of CoinFT are open-sourced at https://coin-ft.github.io/.