Nature Communications

Monolithic 6-Axis Force/Torque Sensing by a Single Ultrathin Piezoceramic Shell

• Shoulu Gong
• Xingyu Wei
• Qi Zhou
• Tianxiang Zheng
• Guoran Zhang
• Zheng Dou
• Shuke Zang
• Zihan Zhao
• Yiyuan Yang
• Zhiran Yi
• Wenming Zhang
• Lei Shao

2026-07-21

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DOI https://doi.org/10.1038/s41467-026-75631-3