Mini45 Force/Torque Sensor

ATI's Mini45 is a compact six-axis force/torque sensor family for robot wrists, grippers, teleoperation rigs and manipulation research. The profile captures its US and SI calibration variants so builders can compare force, torque and resolution ranges in structured specs.

Facts

  • Company: ATI Industrial Automation
  • Type: Force/torque Sensor
  • Core: Wrench sensing
  • Function: Force sensing
  • Audience: Robot OEMs
  • Status: Commercial
  • Website: https://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini45

Specifications

  • Axes: Fx, Fy, Fz, Tx, Ty, Tz
  • Through Hole: Low-profile body with through-hole routing for linkages, cabling or shafts.
  • Applications: Teleoperation, robotic surgery, robotic-hand research, haptics and robotic arm control.

Family specifications

  • US-30-40 - Fz: 60 lbf - Tz: 40 lbf-in - Fx Fy: 30 lbf - Tx Ty: 40 lbf-in - Force Resolution: 1/80 lbf - Torque Resolution: 1/88 to 1/176 lbf-in
  • US-60-80 - Fz: 120 lbf - Tz: 80 lbf-in - Fx Fy: 60 lbf - Tx Ty: 80 lbf-in - Force Resolution: 1/40 lbf - Torque Resolution: 1/44 to 1/88 lbf-in
  • US-120-160 - Fz: 240 lbf - Tz: 160 lbf-in - Fx Fy: 120 lbf - Tx Ty: 160 lbf-in - Force Resolution: 1/20 lbf - Torque Resolution: 1/22 to 1/44 lbf-in
  • SI-145-5 - Fz: 290 N - Tz: 5 Nm - Fx Fy: 145 N - Tx Ty: 5 Nm - Force Resolution: 1/16 N - Torque Resolution: 1/752 to 1/1504 Nm
  • SI-290-10 - Fz: 580 N - Tz: 10 Nm - Fx Fy: 290 N - Tx Ty: 10 Nm - Force Resolution: 1/8 N - Torque Resolution: 1/376 to 1/752 Nm
  • SI-580-20 - Fz: 1160 N - Tz: 20 Nm - Fx Fy: 580 N - Tx Ty: 20 Nm - Force Resolution: 1/4 N - Torque Resolution: 1/188 to 1/376 Nm

Market context

Mini45 is ATI Industrial Automation's compact six-axis force/torque sensor family for robot wrists, grippers, teleoperation rigs, and manipulation research.

  • Target environment: Robot arms, dexterous hands, grippers, teleoperation systems, lab automation rigs, and manipulation research platforms.
  • Workflow context: Contact-force measurement, wrist feedback, grasp evaluation, insertion tasks, teleoperation feedback, and manipulation-control data capture.
  • Customer context: Robot OEMs, research labs, integrators, gripper makers, and automation teams building contact-rich manipulation systems.

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Research

  • BASEPROD: The Bardenas Semi-Desert Planetary Rover Dataset - 2024-09-27 - Research Publication - The MaRTA rover carries one ATI Mini45 at each of its six wheel legs to capture terrain-contact forces and torques. The released field dataset combines those measurements with inertial, visual, thermal and rover-state data… - source: doi.org
  • A Passivity-Based Framework for Safe Physical Human–Robot Interaction - 2023-08-14 - Research Publication - The Baxter testbed carries a wrist-mounted ATI Mini45 covered with soft rubber to measure human interaction forces and torques. Sensor data are filtered from the robot's 1 kHz status stream and supplied to the… - source: doi.org
  • Development of a Real-Time 6-DOF Motion-Tracking System for Robotic Computer-Assisted Implant Surgery - 2023-02-22 - Research Publication - The Mini45 is mounted at the tracker arm tip to measure six-axis forces and torques generated during arbitrary human motion. The force/torque stream is acquired at 1 kHz through a Speedgoat data-acquisition board and… - source: doi.org

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