Abstract
Force sensing is necessary for robots which work with human or others. But, in general, the sensor resolution and rigidity are in the relation of contradiction. Therefore, coexisting of a highly accurate torque measurement and a good controllability is difficult. Torque encoder is a torque measuring system using digital linear encoder, and it has a high rigidity and high resolution. However, the crosstalk of the measurering becomes a trouble when torque encoder is installed in robot. Therefore, to reduce the crosstalk of Torque Encoder, We developed a compliant suspension mechanism. This paper proposes a dynamic assessment of suspension mechanism.
