03 / HUMANOID ANKLE / HXF-ANK
Humanoid Ankle & Heavy 6-Axis Force Sensors
Size ankle and heavy robotics transducers for ground reaction forces, bending moments and impact events. Capture stance, gait and emergency-stop load cases together.
SIX CHANNELS / SPECIFY TOGETHER
HXF-ANK force, moment & installation envelope
These owner-requested family targets support an engineering discussion. They are not simultaneous ratings for a released model. Weight, resolution and combined-load boundaries require a selected configuration.
CHOOSE A MODEL TARGET / 3 REVIEW PATHS
Select geometry and six-channel requirements by model
Numeric entries below are requested design or reference-matching targets. They are not released HXF ratings. Engineering confirms the drawing, mass, simultaneous-load limits and selected interface before ordering.
| Model (HXF-xxx) | Fx, Fy (N) | Fz (N) | Mx, My (Nm) | Mz (Nm) | Dia. × Thickness (mm) | Weight (g) | Direct Interface |
|---|---|---|---|---|---|---|---|
| HXF-ANK75Drawing review | Specify | Specify | Specify | Specify | Ø75; thickness by drawing | Confirm | EtherCAT / CAN-FD / USB / RS485: select for review |
| HXF-ANK95Drawing review | Specify | Specify | Specify | Specify | Ø95; thickness by drawing | Confirm | EtherCAT / CAN-FD / USB / RS485: select for review |
| HXF-ANK120Drawing review | Specify | Specify | Specify | Specify | Ø120; thickness by drawing | Confirm | EtherCAT / CAN-FD / USB / RS485: select for review |
HXF-ANK75 — 75 mm ankle load-path target
Compact biped ankle fixture review.
- Provide stance, impact and emergency-stop load cases.
- Specify mechanical stops and assembly stiffness.
HXF-ANK95 — 95 mm ankle load-path target
Biped ankle and Delta reference review.
- Ankle load demands are separate from wrist demands.
- Confirm simultaneous loads and the ground-contact reference frame.
Original-reference names for review: ATI Delta. Mounting, electrical and software interchange are not yet approved.
HXF-ANK120 — 120 mm heavy ankle target
Heavy contact feedback and higher-load ankle assemblies.
- The reference outer diameter differs; a custom interface review is required.
- Provide fatigue spectrum, overload stops and bracket geometry.
Original-reference names for review: ATI Omega160. Mounting, electrical and software interchange are not yet approved.
Noise at your bandwidth
Request Fx/Fy/Fz resolution in N and Mx/My/Mz in Nm at a stated filter setting and sample rate. No measured HXF noise report is published here.
Residuals under combined load
Review six-axis calibration residuals and temperature drift. A requested <1% target needs a defined denominator and acceptance test.
Axis limits are not additive
Request a combined-load diagram, installation torque and shock limits. A 300–500% design target is not a universal working-load rating.
APPLICATION & FLANGE REVIEW
Confirm the complete HXF-ANK load path
Biped ankle load feedback, balance research and heavy finishing robots.
A single-axis overload percentage cannot approve a six-channel impact event.
Contact location from moments requires a stated coordinate frame, plane and sufficient normal force.
Fatigue spectrum, mechanical stops and bracket stiffness need a complete assembly review.
Replacement references: ATI Delta / Omega160 and custom ankle bolt patterns; independent engineering review. Third-party brands are unaffiliated. No mounting or protocol interchange is approved without a drawing and firmware review.
Open the replacement review checklist ↗INTEGRATE THE DATA, NOT JUST THE DISC
One six-component measurement chain
Choose the host interface, timestamps, axis convention and filtering with the sensor. Request the configuration-matched ESI or protocol document, tested software and commissioning checklist.
# Integration target — not an available driver download
# After installing the confirmed firmware-matched package:
ros2 launch hexaforce_ft_driver sensor.launch.py
# Inspect six channels in the sensor reference frame
ros2 topic echo /hexaforce/wrenchRequest tested ROS1 / ROS2 Humble or Jazzy support, C++ / Python examples and Windows GUI availability with your quotation. No HXF driver or SDK release has been published here yet.
ENGINEERING REQUEST / HXF-ANK
Configure the sensor and robot mounting kit
YOUR MAIL CLIENT / SAME ENGINEERING REQUEST
Send the selected model and specifications by email
The subject and message include the selected model, original reference, requested documents, loads and hardware options.
Read or manually copy the complete draft
To: inquiry@6axisforcesensor.com Subject: HexaForce Engineering quotation — HXF-ANK Hello HexaForce engineering, Request: Engineering quotation Family: HXF-ANK HXF model / review target: Please advise Original sensor / revision: Please advise Application: Please advise Target Fz (N) and Mxy (Nm): Please advise Maximum OD and thickness (mm): Please advise Preferred protocol: Help me select Robot / tool / flange: Please advise Quantity band: Please advise Quantity: Please advise Delivery country / timeline: Please advise Requested documents: Configuration-specific English datasheet; Formal quotation / proforma invoice Digital decoupling / software: confirm the selected configuration and tested release Options: CNC robot wrist mounting adapter flange kit (+$145 budget) Project notes: Full name: [enter name] Work email: [enter email] Organization: [enter organization] Source page: /humanoid-ankle-heavy-6-axis-force-sensors/ Please confirm drawings, capacity, output, calibration evidence, software scope, price and delivery before ordering.
The contact link carries technical selections. Personal contact details and project notes remain on this form.
HUMANOID CONFIGURATION
Plan two wrists and two ankles together
Keep wrist and ground-contact loads separate while reviewing the mounting, cabling and acquisition architecture as one four-sensor set.
BEFORE YOU SPECIFY
Six-channel selection questions
Does each family cover every listed range at every size?
No. Values are design targets across a family. The selected configuration needs its own six-channel range, mass, dimensional drawing, output option and calibration record.
Can I replace an ATI, Bota or OnRobot sensor directly?
Send the original part number, drawing and firmware/protocol details. Matching outer diameter alone does not establish bolt-pattern, connector, axis-sign or software compatibility.
How do I specify resolution and crosstalk?
State your minimum detectable force and moment, bandwidth and temperature range. Request per-channel noise, resolution and combined-load residuals at those settings; output bit depth alone is insufficient.
Are the shown diagrams product photographs?
They are original conceptual engineering illustrations. They do not establish a supplied model, hole pattern, physical test result or manufacturing certification.
DEFINE THE COMPLETE LOAD CASE
Send the force. Add the moment arm.
Include your six-channel loads, robot model, space envelope and preferred interface. Request a configuration-specific quotation and STEP drawing.