Xiaoyu (Rayne) Zheng (Advisor)

Force decoupling is essential for high-fidelity proprioception sensing in robotic systems. However, existing approaches rely on bulky multi-axis transducers or complex signal post-processing, hindering response speed and scalability. This work presents a force sensor employing a compliant mechanism-inspired meta-structure to mechanically decouple multidirectional forces. The metamaterial structure redistributes internal stiffness to channel force components into desired sensing elements while attenuating off-axis loads. This geometry-driven approach achieves high directional sensitivity (...