  Six-axes force/torque sensors are increasingly needed in mechanical
engineering. Here, we introduce a flexure-based design for such sensors, which
solves some of the drawbacks of the existing designs. In particular, it is
backlash-free, it can be wirelessly monitored, it exactly enforces 90 degrees
angles between axes, and it enables visual inspection of the monitored system
thanks to its hollow structure. We first describe the generic design,
implementation and calibration procedure. We then demonstrate its capabilities
through three illustration examples relevant to the field of tribology: low
friction measurements under ultra-high vacuum, multi-directional friction
measurements of elastomer contacts, and force/torque-based contact position
monitoring.
