Haptic technology has been attracting widespread attention in the fields of robotics and medicine. The bandwidth of force sensing is vital to reproduce the vivid force sensation. This paper proposes a method to enlarge the bandwidth of force sensing. In this paper, the force sensing operation is constructed by a combination of a Kalman-filter and a disturbance observer for multi-sensor. In order to achieve the high sampling rate, the control algorithm together with the force estimation function is implemented in a field programmable gate array (FPGA). The wide bandwidth of force sensing is obtained owing to the shortened sampling period by FPGA and the noise suppression by Kalman-filter. The experimental results show the viability of the proposed method.
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