Integrated torque sensors for humanoid robot joints

Abstract Torque sensors are becoming increasingly important in the joints of humanoid robots, serving as an indispensable part of the joint system. This paper designs a strain-based torque sensor integrated into the output flange of a cycloidal reducer. Through mechanical analysis, the relationship between strain and torque is derived. Then, through model simulation analysis, the optimal placement for the strain gauge is determined. A combination of experimental design and response surface analysis is used to optimize the structure’s parameters. Finally, finite element simulation is conducted using ANSYS to obtain the optimized performance parameters. Subsequent steps include the static calibration of the integrated sensor. Based on the measured data points, a linear relationship between the sensor’s output signal and torque is established.