Torque sensors are critical perception components in robot joints, providing essential feedback for precise motion control and operational safety. To ensure their reliability, a comprehensive metrological evaluation, including uncertainty assessment, is imperative. This paper establishes a measurement and analysis methodology based on the deadweight torque standard machine, following the national verification regulation JJG 995-2005. The indication error of a torque sensor is measured, and the primary sources of measurement uncertainty—including repeatability, the standard machine's inherent uncertainty, and the sensor indicator's resolution—are quantitatively analyzed. The combined standard uncertainty and expanded uncertainty (with a coverage factor k=2) are calculated. For a 10 Newton-meter (Nm) measurement point, the relative expanded uncertainty is determined to be 0.08%. The results confirm the sensor's compliance with specifications and provide a validated framework for the uncertainty assessment of torque sensors in robotic applications, thereby supporting the pursuit of higher-precision robot control. This study not only demonstrates the practical application of uncertainty evaluation in torque sensors for robotics but also offers a methodological reference for manufacturers and researchers to enhance the accuracy and reliability of torque sensing systems in advanced robotic applications. The findings contribute to the development of more precise and safer robotic systems, particularly in fields such as medical robotics and high-precision assembly.
| Published in | Automation, Control and Intelligent Systems (Volume 14, Issue 1) |
| DOI | 10.11648/j.acis.20261401.11 |
| Page(s) | 1-5 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2026. Published by Science Publishing Group |
Robot Joints, Torque Sensor, Measurement Uncertainty
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https://doi.org/ 10.1017/s0263574725000086 |
APA Style
Ma, B., He, X., Zhu, Z., Xie, F., Xiao, Y., et al. (2026). Measurement Uncertainty Assessment of Torque Sensor in Robot Joints. Automation, Control and Intelligent Systems, 14(1), 1-5. https://doi.org/10.11648/j.acis.20261401.11
ACS Style
Ma, B.; He, X.; Zhu, Z.; Xie, F.; Xiao, Y., et al. Measurement Uncertainty Assessment of Torque Sensor in Robot Joints. Autom. Control Intell. Syst. 2026, 14(1), 1-5. doi: 10.11648/j.acis.20261401.11
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Download@article{10.11648/j.acis.20261401.11,
author = {Binghui Ma and Xiangjun He and Zhonggang Zhu and Faxiang Xie and Yao Xiao and Yue Min and Wei Shen},
title = {Measurement Uncertainty Assessment of Torque Sensor in Robot Joints},
journal = {Automation, Control and Intelligent Systems},
volume = {14},
number = {1},
pages = {1-5},
doi = {10.11648/j.acis.20261401.11},
url = {https://doi.org/10.11648/j.acis.20261401.11},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20261401.11},
abstract = {Torque sensors are critical perception components in robot joints, providing essential feedback for precise motion control and operational safety. To ensure their reliability, a comprehensive metrological evaluation, including uncertainty assessment, is imperative. This paper establishes a measurement and analysis methodology based on the deadweight torque standard machine, following the national verification regulation JJG 995-2005. The indication error of a torque sensor is measured, and the primary sources of measurement uncertainty—including repeatability, the standard machine's inherent uncertainty, and the sensor indicator's resolution—are quantitatively analyzed. The combined standard uncertainty and expanded uncertainty (with a coverage factor k=2) are calculated. For a 10 Newton-meter (Nm) measurement point, the relative expanded uncertainty is determined to be 0.08%. The results confirm the sensor's compliance with specifications and provide a validated framework for the uncertainty assessment of torque sensors in robotic applications, thereby supporting the pursuit of higher-precision robot control. This study not only demonstrates the practical application of uncertainty evaluation in torque sensors for robotics but also offers a methodological reference for manufacturers and researchers to enhance the accuracy and reliability of torque sensing systems in advanced robotic applications. The findings contribute to the development of more precise and safer robotic systems, particularly in fields such as medical robotics and high-precision assembly.},
year = {2026}
}
TY - JOUR T1 - Measurement Uncertainty Assessment of Torque Sensor in Robot Joints AU - Binghui Ma AU - Xiangjun He AU - Zhonggang Zhu AU - Faxiang Xie AU - Yao Xiao AU - Yue Min AU - Wei Shen Y1 - 2026/01/09 PY - 2026 N1 - https://doi.org/10.11648/j.acis.20261401.11 DO - 10.11648/j.acis.20261401.11 T2 - Automation, Control and Intelligent Systems JF - Automation, Control and Intelligent Systems JO - Automation, Control and Intelligent Systems SP - 1 EP - 5 PB - Science Publishing Group SN - 2328-5591 UR - https://doi.org/10.11648/j.acis.20261401.11 AB - Torque sensors are critical perception components in robot joints, providing essential feedback for precise motion control and operational safety. To ensure their reliability, a comprehensive metrological evaluation, including uncertainty assessment, is imperative. This paper establishes a measurement and analysis methodology based on the deadweight torque standard machine, following the national verification regulation JJG 995-2005. The indication error of a torque sensor is measured, and the primary sources of measurement uncertainty—including repeatability, the standard machine's inherent uncertainty, and the sensor indicator's resolution—are quantitatively analyzed. The combined standard uncertainty and expanded uncertainty (with a coverage factor k=2) are calculated. For a 10 Newton-meter (Nm) measurement point, the relative expanded uncertainty is determined to be 0.08%. The results confirm the sensor's compliance with specifications and provide a validated framework for the uncertainty assessment of torque sensors in robotic applications, thereby supporting the pursuit of higher-precision robot control. This study not only demonstrates the practical application of uncertainty evaluation in torque sensors for robotics but also offers a methodological reference for manufacturers and researchers to enhance the accuracy and reliability of torque sensing systems in advanced robotic applications. The findings contribute to the development of more precise and safer robotic systems, particularly in fields such as medical robotics and high-precision assembly. VL - 14 IS - 1 ER -
Zhejiang Institute of Quality Science, Hangzhou, China
Zhejiang Institute of Quality Science, Hangzhou, China
Zhejiang Fine Motion Robot Joint Technology Co., Ltd, Taizhou, China
Zhejiang Fine Motion Robot Joint Technology Co., Ltd, Taizhou, China
Zhejiang Institute of Quality Science, Hangzhou, China
Zhejiang Institute of Quality Science, Hangzhou, China
Zhejiang Institute of Quality Science, Hangzhou, China
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