Compliant mechanism for improving reaction torque sensing in robotic actuators

Abstract

A robotic system has a bracket that helps integrate a load sensor into a robotic actuator such that the sensor is not overly affected by loads not aligned with its load sensing axis (which can lead to inaccurate measurements of the desired load). The bracket includes: (a) a tube having an exterior wall and a hollow interior, (b) a first beam between first and second voids, a second beam between a third void and the second void, a third beam between the first void and a fourth void, a fourth beam between the third and fourth voids. The bracket further includes: (a) additional first, second, third, and fourth voids; (c) an additional first beam between the additional first and second voids, an additional second beam between the additional third and second voids, an additional third beam between the additional first and fourth voids, and an additional fourth beam between the additional third and fourth voids.