Development of joint torque sensor applied to compensate crosstalk error

For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed sensor with truss structure increase deformation of the sensor and restoration, and the Wheatstone bridge circuit of strain gauge removes crosstalk error. Sensor performance is verified with FEM analysis.