Measurement of joint toque and signal processing using FIR filter

It is increasingly important for robot to capture precise senses of torque and forces to cooperate with human. The torque sensor that measures these quantities could be subject to suffer noises which can prevent from measuring signals. To overcome this problem there is a method of current-to-voltage transforming that can provide guarantee for measuring precise torque. Moreover, FIR (Finite Impulse Response) Filtering is applied to reduce back-ground noise from voltage value. It is suggested to measure precise torque and filter noise using Current-to-Voltage and FIR.