High performance force sensors often encounter the conflicting requirements of fine sensitivity and wide bandwidth. While there is an intrinsic tradeoff between these two metrics that cannot be physically avoided for any force transducer, through proper optimization the product of these two can be maximized. Similarly, the requirements of multiple sensing axes and overall compactness are also often at odds. This paper describes a novel design, simple method of fabrication, and thorough analysis of a high performance two-axis force sensor. We conclude with an example application: measuring the lift and drag forces from a flapping-wing robotic insect.

Segmented myriapod-like bodies may offer performance benefits over more common fixed body morphologies for ambulation. Here, the design of a segmented ambulatory microrobot with a flexible backbone is presented. A dynamic model describing the motion of the microrobot is used to determine body parameters. A three-segment microrobot was fabricated using the Smart Composite Microstructures process and piezoelectric bimorph actuators, and forward locomotion on a flat surface was demonstrated. The footprint of the 750 mg microrobot is 3.5 by 3.5 cm, and it has potential advantages over rigid body hexapedal microrobots in climbing, versatility, and stability.

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