抄録
As robots expand into the society, it is necessary for robots to move safely for avoiding injury on impact. External force measurement is vital to move safely depending on the situation. Many methods for measuring torque are to measure strain of the elastic body. Measurement accuracy and tortional stiffness of the elastic body are in a trade-off relation. Accuracy improvement requires to reduce the tortional stiffness of torque sensor, but it makes dynamic characteristic of the joint complex. By joint structure specializing in measuring torque and canceling five-axis force other than joint torque, this paper proposes a mechanism to establish torque control with the use of rigid torque sensor with higher resolution.
