Robot joint module equipped with joint torque sensor with disk-type coupling for torque error reduction

Jae Kyung Min, Hong Seon Yu, Kuk Hyun Ahn, Jae Bok Song

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)


Force control and collision detection of a robot were usually conducted using a 6 axis force/torque sensor mounted at the end-effector. This scheme, however, suffers from its high cost and inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, but they also suffered from various errors in torque measurement. To solve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque and to reduce the stress induced in the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

Original languageEnglish
Pages (from-to)371-378
Number of pages8
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Publication statusPublished - 2015
Event8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom
Duration: 2015 Aug 242015 Aug 27

Bibliographical note

Funding Information:
This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT No. 10048980 and 10038660.

Publisher Copyright:
© Springer International Publishing Switzerland 2015.


  • Disk-type coupling
  • Joint torque sensor
  • Moment load
  • Robot joint module
  • Torque measurement

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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