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The International Journal of Robotics Research
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Design of a Hollow Hexaform Torque Sensor for Robot Joints

Farhad Aghili

Canadian Space Agency, Saint-Hubert, Québec, J3Y 8Y8, Farhad.Aghili{at}space.gc.ca

Martin Buehler

Department of Mechanical Engineering, McGill University, Montreal, Quebec, Canada H3A 2A7buehler{at}cim.mcgill.ca

John M. Hollerbach

Department of Computer Science, University of Utah, Salt Lake City, UT 84112, USAjmh{at}cs.utah.edu

This work describes the design of a new one-axis torque sensor. It achieves the conflicting requirements of high stiffness for all six force and torque components, high sensitivity for the one driving torque of interest, and yet very low sensitivity for the other five force/torque components. These properties, combined with its donut shape and small size, make this sensor an ideal choice for direct-drive robotic applications. Experimental data validate the basic design ideas underlying the sensor’s geometry, the finite element model used in its optimization, and the advertised performance.

Key Words: torque sensor • robot joint • joint torque control

The International Journal of Robotics Research, Vol. 20, No. 12, 967-976 (2001)
DOI: 10.1177/02783640122068227
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