The development of robot hand with joint torque sensor based on torque control

Abstract

This paper suggests a low cost joint torque sensor which can be easily attached to each joint of a robot-hand for compliance control. We designed a new joint torque sensor that measures a torque exerting at any location. The design of sensor body is optimized through the structural body analysis. We implemented compliance control through measuring a torque applied to the robot-hand. We proved that the proposed joint torque sensor gives acceptable performance when we control the robot-hand.