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Sensors 2016, 16(7), 991; doi:10.3390/s16070991

Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape

Department of Mechanical Engineering, Mokpo National University, Jeonnam 585543, Korea
Department of Control Engineering and Robotics, Mokpo National University, Jeonnam 58554, Korea
Author to whom correspondence should be addressed.
Academic Editor: Suk-Seung Hwang
Received: 29 March 2016 / Revised: 7 June 2016 / Accepted: 14 June 2016 / Published: 1 July 2016
View Full-Text   |   Download PDF [5588 KB, uploaded 1 July 2016]   |  


The torque sensor is used to measure the joint torque of a robot manipulator. Previous research showed that the sensitivity and the stiffness of torque sensors have trade-off characteristics. Stiffness has to be sacrificed to increase the sensitivity of the sensor. In this research, a new torque sensor with high sensitivity (TSHS) is proposed in order to resolve this problem. The key idea of the TSHS comes from its 4-bar linkage shape in which the angular displacement of a short link is larger than that of a long link. The sensitivity of the torque sensor with a 4-bar link shape is improved without decreasing stiffness. Optimization techniques are applied to maximize the sensitivity of the sensor. An actual TSHS is constructed to verify the validity of the proposed mechanism. Experimental results show that the sensitivity of TSHS can be increased 3.5 times without sacrificing stiffness. View Full-Text
Keywords: torque sensor; robot manipulator; joint torque control; 4-bar linkage torque sensor; robot manipulator; joint torque control; 4-bar linkage

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Zhang, H.-X.; Ryoo, Y.-J.; Byun, K.-S. Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape. Sensors 2016, 16, 991.

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