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Exoskeleton robots have been used for rehabilitation in many areas. In order to comprise arm exoskeleton robot, a modular joint unit is proposed. As a module, this unit contains everything for joint actuating. Motor, encoder, harmonic drive, brake, cross roller bearing, and joint torque sensor are included in this unit. Because this unit is applied to exoskeleton robot, the joint torque sensor is important for human machine interface (HMI). Joint torque sensor performance is verified with FEM analysis.