Compact torque sensor for a robot hand

For a robot to grasp and manipulate an object with a multi-fingered hand, not only the fingertips but also the whole-finger links should be utilized. Sensing of joint torque is necessary for the robot hand to work correctly, and many sensors for measuring joint torque have been proposed. In this paper, a novel torque sensor that can measure strain of the elastic body is proposed for a robot hand. The torque sensor system requires the miniaturization of both the sensor and its amplifier circuit and can be built into the mechanism of the robot hand. The system has a built-in amplifier circuit on the torque sensor frame. We perform experiments designed to show the sensor system's linearity, hysteresis, and frequency response. The motor can be controlled using a feedback signal of the torque sensor.