WrenchSense

WrenchSense is a desktop + web app that helps robotics teams validate force-control behavior using recorded torque/force data and simple hardware-in-the-loop tests. Instead of “tune and pray,” it ingests robot logs (torque, current, F/T sensor, joint states), aligns them with task phases, and runs automated checks: contact detection stability, overshoot, chatter, saturation, and safety margin to limits. It generates a plain-English report plus plots that a controls engineer can act on. An AI assistant suggests likely root causes (bad filtering, wrong stiffness/damping, miscalibrated F/T, compliance mismatch) and proposes parameter ranges—but it does not auto-deploy changes. The realistic value is faster debugging and fewer broken parts during commissioning, especially for sanding, insertion, deburring, and polishing where force control failures are expensive and intermittent.