A multi-axis force sensor measures forces and moments occurring in more than one spatial direction. In this way, a single multi-axis sensor can perform what is essentially a three-dimensional measurement of physical quantities. This feature makes multi-axis sensors popular in a wide range of engineering research including automation, machining processes, aerospace, medical applications and civil engineering. Measurement of multi-directional forces and moments is typically achieved using multiple strain-sensitive elements mounted on an elastic structure. Both the sensitive elements and the elastic structure require careful consideration to design a force sensor for accuracy, reliability and robustness. While the development of multi-axis sensors has been considered extensively in the literature over the past seven decades, a collective resource which collates and examines this information does not exist. This review explores multi-axis force sensor developments across a broad range of disciplines. The salient fundamental sensing techniques adopted for the strain-sensitive elements reported in the literature are discussed and a critical review of elastic structure designs that have featured in the literature is also presented.

多轴力传感器可测量在多个空间方向上发生的力和力矩。这样，单个多轴传感器可以执行本质上是对物理量的三维测量。此功能使多轴传感器在自动化，机械加工，航空航天，医疗应用和土木工程等广泛的工程研究中广受欢迎。通常使用安装在弹性结构上的多个应变敏感元件来实现多方向力和力矩的测量。敏感元件和弹性结构都需要仔细考虑以设计力传感器以实现准确性，可靠性和鲁棒性。在过去的七十年中，虽然多轴传感器的开发在文献中得到了广泛的考虑，不存在收集和检查此信息的集体资源。这篇综述探讨了跨学科的多轴力传感器的发展。讨论了文献报道的应变敏感元件采用的显着基本传感技术，并对文献中所介绍的弹性结构设计进行了严格的综述。