On a design of a torque sensor for the iCub humanoid robot

Abstract

The paper presents the evaluation process of a first version of the one axis torque sensor designed for the iCub humanoid robot. Newly designed strain gauges equipped sensor was found to show a significant readouts hysteresis, therefore several tests were run to define the reason of the hysteresis. Some of the design issues met while testing the new sensor are discussed including the screws connection and relative rigidity of the sensor's elements analyses. Verification of the assembly procedure is also included. Tests revealed several problems on both design stage and exploitation of the sensor. Possible solutions to the encountered problems are further proposed.