Joint torque sensing on harmonic drives for robots.

Abstract

In the present paper we propose a joint torque sensing technique using elasticity of the harmonic drive. The technique is based on the constraction of the strain gauge bridges on the flexspline in harmonic drives, by which the modulation in the sensor output due to the wave generator rotation is eliminated. By utilizing the present technique, the torque exerted on robotic joints is measured very easily without spoiling stiffness of the robots.