Miniature capacitive 6-axis force sensor(DynPick) / WACOH-TECH


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Miniature capacitive 6-axis force sensor

  • Miniature capacitive 6-axis force sensor
  • (Rated loads:Fx,Fy,Fz:200N Mx,My,Mz:3Nm)
  • Model
  • WDF-6M200-3

Miniature capacitive 6-axis force sensor



The Dyn Pick is a capacitive force sensor that can detect forces (Fx, Fy, Fz, Mx, My, and Mz) in six directions simultaneously. This WDF-6M is a miniature force sensor that is widely used by research institutions and universities. For miniaturization, the microcomputer adopted in the sensor has been downsized, and also WACOH-TECH’s original stopper mechanism has been simplified.


USB output is made because usage with a personal computer is assumed.


  • Force control of industrial robots, precision fitting, deburring, pressing force inspection, grinding work, etc.
  • Operating portions of assistive devices
  • Machining control of machine tools, etc.


As compact as φ50

Simple structure

and low cost

No external module or amplifier required, USB drive

Correction in the sensor

by built-in microcomputer

Measures against overload by WACOH-TECH’s original stopper mechanism

(No stopper mechanism is available in the directions of Fx, Fy, and Mz.)


Rated loadsFx,Fy,Fz - 200 - N
Mx,My,Mz - 3 - Nm
Linearity - - 3 %FS
Hysteresis - - 3 %FS
Cross-axis sensitivity -5 - +5 %FS
Zero-point temperature characteristics -0.2 -  +0.2 %FS/℃
Output form USB
Outer dimensions φ50×H28 mm
Current consumption 200mA or less
Weight 120 g



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