2-DOF torque sensor for precise force control of robot hand

For a robot hand to make a stable contact with its environment and perform various tasks, it must be equipped with torque sensors to accurately measure its torques. However, conventional torque sensors are too bulky and expensive to be used for a robot hand. To cope with these problems, in this study, we propose a novel 2-DOF torque sensor, which uses the link frame of a robot hand as the torque sensor structure. Through FEM (Finite Element Method) analysis, the size of the sensor was minimized, while its unique structure minimizes cross-talks, thus enabling precise measurement of torques. Its performance was verified using a torque sensor calibration set.