“…Although there are many methods to measure deformation to calculate external force/torque, for example by attaching polyvinylidene fluoride (PVDF) films [33], strain gauges [20], piezoresistive materials [34], or fibre bragg grating (FBG) [21,35] on the sensor structures, we are proposing light intensity-based measurement using optoelectric technology [36,37,38] and simply-supported beam (Figure 1 and Figure 2) [39]. Our proposed methods have advantages such as immunity to electrical noise, low power consumption, low-level noise, no need for electronic filtering, easy attachment into the sensor body, and low cost [40,41,42,43,44,45].…”