02 / MINIATURE / HXF-MINI
Miniature 6-DOF Force/Torque Sensors
Plan six-component sensing in small end effectors, dexterous hands and precision research fixtures. Choose force sensitivity together with mounting stiffness and cable strain relief.
SIX CHANNELS / SPECIFY TOGETHER
HXF-MINI 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 / 5 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-NANO17Drawing review | 50 target | 70 target | 0.5 target | 0.5 target | Ø17 × 14.5 mm target | Confirm | EtherCAT / CAN-FD / USB / RS485: select for review |
| HXF-MINI25Drawing review | 250 target | 1,000 target | 6 target | 6 target | Ø25 × 16 mm target | Confirm | EtherCAT / CAN-FD / USB / RS485: select for review |
| HXF-MINI34Drawing review | Specify | Specify | Specify | Specify | Ø34 × 13.5 mm target | 28 target | EtherCAT / CAN-FD / USB / RS485: select for review |
| HXF-M40Drawing review | 80 target | 240 target | 4 target | 4 target | Ø40 × 12.2 mm target | Confirm | EtherCAT / CAN-FD / USB / RS485: select for review |
| HXF-M45Drawing review | 580 target | 1,160 target | 20 target | 20 target | Ø45; thickness by drawing | Confirm | EtherCAT / CAN-FD / USB / RS485: select for review |
HXF-NANO17 — 17 mm miniature interface target
Small research fixtures and dexterous finger tooling.
- Check both face drawings and cable exit.
- Request the minimum useful force and filter bandwidth.
Original-reference names for review: ATI Nano17. Mounting, electrical and software interchange are not yet approved.
HXF-MINI25 — 25 mm miniature interface target
Compact tooling requiring separate axial and lateral load selection.
- The proposed height differs from the reference; review the complete stack.
- Confirm force ranges and connector clearance together.
Original-reference names for review: ATI Nano25. Mounting, electrical and software interchange are not yet approved.
HXF-MINI34 — 34 mm light-tooling target
Finger-base sensing and compact gripper research.
- 28 g is a design target, not a measured delivered mass.
- Request the mating gripper drawing and cable motion envelope.
Original-reference names for review: Bota MiniONE; Bota TactX. Mounting, electrical and software interchange are not yet approved.
HXF-M40 — 40 mm miniature replacement review
Existing Mini40-sized fixture and through-bore review.
- Confirm bolt circle, pilot, thread engagement and the bore.
- The listed load case is a reference-matching request; combined loading needs review.
Original-reference names for review: ATI Mini40; ME-Meßsysteme K6D40. Mounting, electrical and software interchange are not yet approved.
HXF-M45 — 45 mm miniature replacement review
Higher-load compact tools with a defined bending-moment budget.
- State the standard, protected or titanium reference variant.
- Include tool offset and cable exit; diameter alone does not approve replacement.
Original-reference names for review: ATI Mini45. 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-MINI load path
Dexterous hands, micro-assembly and surgical robotics research.
Use the individual model targets: connector, protection and mounting variants change the complete envelope.
Mounting preload, cable pull and thermal drift can dominate small-force readings.
Medical research use does not establish medical-device approval, sterilization compatibility or clinical suitability.
Replacement references: ATI Nano17 / Nano25 / Mini40 / Mini45 and ME-Meßsysteme K6D40 drawing-led 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-MINI
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-MINI Hello HexaForce engineering, Request: Engineering quotation Family: HXF-MINI 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: /miniature-6-dof-force-torque-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.
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.