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Realization of rigid and sensitive torque sensor is one of the key factors for the success of robots. With the conventional detectors as strain gauges, poor S/N (signal to noise) ratio has been the limitation of torque sensor sensitivity. Torque Encoder uses a linear encoder as a detector and significantly enhanced the S/N ratio, and realized stiff and sensitive torque sensor. However, the crosstalk...
When robots cooperate with humans it is necessary for robots to move safely on sudden impact. Joint torque sensing is vital for robots to realize safe behavior and enhance physical performance. Firstly, this paper describes a new torque sensor with linear encoders which demonstrates electro magnetic noise immunity and is unaffected temperature changes. Secondly, we propose a friction compensation...
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