USTS: A High-Sensitivity and Stiff Torque Sensor for Advanced Robotic Joints

USTS: A High-Sensitivity and Stiff Torque Sensor for Advanced Robotic Joints | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article USTS: A High-Sensitivity and Stiff Torque Sensor for Advanced Robotic Joints Shrikant C. Mahadik, Vikas Deulgaonkar, Sachin M. Bhosle, Dinesh Washimkar, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6698306/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Robotic manipulators are pivotal in industries such as automotive, electronics, and shipbuilding, requiring advanced sensors to improve performance , precision, and safety. Among these, force and torque sensors are crucial for enabling robots to interact intelligently with dynamic environments. Traditional 6-axis force/torque sensors, while effective at the end-effector, have limitations in detecting forces at other parts of the manipulator, which can be crucial for safety in human-robot interaction. This study introduces the Ultra-Sensitive Torque Sensor (USTS), designed with a three-beam structure and four-bar linkage to enhance sensitivity while maintaining mechanical stiffness. The USTS design was optimized through Finite Element Analysis (FEA) and validated experimentally. Simulation results show a significant improvement in sensitivity and deflection, achieving a performance index 4.71 times higher than conventional sensors. Additionally, the USTS maintains a linearity error below 7.5%, offering precise and reliable torque measurements. The results indicate that the USTS is a promising solution for advanced robotic applications, particularly in collabora-tive environments where safety and accuracy are critical. Ultra-Sensitive Torque Sensor (USTS) Robotic Manipulators Force and Torque Sensors Finite Element Analysis (FEA) Human-Robot Interaction. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6698306","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":458670205,"identity":"efbf4fa4-cc52-4bc2-a811-709d42fc4705","order_by":0,"name":"Shrikant C. 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