Torque Sensor Embedded Actuator Module for Robotic Applications

Measuring accurate torque is a core ability of advanced robotic technologies. However, embedding torque-sensing systems into robot joints are still a challenge due to limitations including size, weight, and cost. Moreover, the influence from axial forces/torques (x- and y-axis) and the sinusoidal effect from the harmonic drive make it difficult to measure torque accurately. This paper presents a n...