Development of a spoke type novel joint torque sensor by using nano carbon strain sensors

In this study we introduce a preliminary on going work to develop a novel spoke type joint torque sensor of robots by using multi-walled carbon nanotube (MWCNT) strain sensors. We use a nanocomposite solution casting process to fabricate a liquid type strain sensor which can be easily installed on complicate surfaces. To install the strain sensors on the spoke of the joint sensor, we painted the strain sensor with a brush and get solid sensors after curing process. The voltage output responses of the sensors showed somehow linear responses to torque inputs. We are expecting that the nano-carbon based strain sensor might be able to replace the conventional strain gauges which are popular to build torque sensors.