六维力觉还在堆多梁结构与解耦算法？上交大/新国立发文Nature Communications，一张50 μm压电陶瓷薄壳实现单体六轴感知

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标题：Monolithic 6-Axis Force/Torque Sensing by a Single Ultrathin Piezoceramic Shell.《Nature Communica