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Realization of rigid and sensitive torque sensor is one of the key factors for the success of robots. With the conventional detectors as strain gauges, poor S/N (signal to noise) ratio has been the limitation of torque sensor sensitivity. Torque Encoder uses a linear encoder as a detector and significantly enhanced the S/N ratio, and realized stiff and(More)
The importance of force measurement and back-drivability in realizing force sensitive actuator is widely acknowledged. There are studies on fidelity of torque sensors and backdrivability individually, but limited study are made on investigating effect of torque fidelity and backdrivability on force sensitivity of the actuation system. In this paper, we(More)
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