# Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

## TL;DR

This paper presents a model-based in situ calibration method for 6-axis force torque sensors that incorporates temperature compensation to address temperature-induced measurement drift, improving accuracy in varying conditions.

## Contribution

The paper extends existing in situ calibration techniques by integrating temperature compensation, enhancing sensor accuracy during long-term or environmental changes.

## Key findings

- Temperature significantly affects sensor measurements.
- The proposed method effectively compensates for temperature drift.
- Improved measurement accuracy demonstrated on iCub robot platform.

## Abstract

It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an experiment is long or the environmental conditions are different from when the calibration of the sensor was performed. Other \textit{in situ} methods disregard the effect of temperature on the sensor measurements. Experiments performed using the humanoid robot platform iCub show that the effect of temperature is relevant. The model based \textit{in situ} calibration of six axis force torque sensors method is extended to perform temperature compensation.