Abstract
Force sensitivity is indispensable feature of a robot in order for them to cohabitate with human. Torque control is commonly done with the combination of a torque sensor and a gear transmission. To enhance the performance of the interaction, such as low impedance behavior or contact stability, intrinsic property of the actuator must be enhanced, namely backdrivability. In our previous studies, we have proposed robot actuator with backdrivability, utilizing a hydraulic drive called Electro-Hydrostatic Actuator (EHA). In this paper, we propose a torque sensing robot joint mechanism with backdrivable EHA for enhancing force interaction performance.
