The Armstron package allows you to This ROS package and associated GUI make use of the 6-axis force/torque sensor on the Universal Robot e-series to apply complex loads to things. We can essentially perform tests similar to an Instron Uniaxial Testing machine, but in all axes.


Follow instructions in the Quickstart Guide.

Explore the Examples

Check out the Examples, or run any of the launch files in the armstron/launch folder.


If you have questions, or if you’ve done something interesting with this package, get in touch with Clark Teeple, or the Harvard Microrobotics Lab!

If you find a problem or want something added to the library, open an issue on Github.

Used In…

Armstron will enable many future works!