Torque sensor
A torque sensor ( 200 ) includes a sensor unit ( 222 ), a resilient body ( 213 ), and a detection unit ( 223 ). The sensor unit ( 222 ) detects, from an output unit that is a rotational body of an actuator, a rotational position in an annular first area positioned at a first distance from a rotation center, and a rotational position in an annular second area positioned at a second distance longer than the first distance from the rotation center. The resilient body ( 213 ) is provided between the first area and the second area. The detection unit ( 223 ) detects a torque applied to the output unit, on the basis of a result of the detection by the sensor unit ( 222 ).
1. A torque sensor for an actuator comprising:
a flexure element that includes
a first annular area positioned at a first distance from a rotation center of a rotational body of the actuator,
a second annular area positioned at a second distance that is longer than the first distance from the rotation center of the rotational body of the actuator, and
a resilient body provided at least between the first annular area and the second annular area, and
circuitry configured to
detect a rotational position of the first annular area and a rotational position of the second annular area,
and
detect a torque applied to the rotational body of the actuator based on the rotational position of the first annular area and the rotational position of the second annular area that were detected, wherein
the resilient body includes a spiral cutout portion that extends in a circumferential direction around the rotation center of the rotational body and forms a spiral spring portion of the resilient body.
2. The torque sensor according to claim 1 , further comprising:
a first sensor that detects the rotational position of the first annular area, and
a second sensor that detects the rotational position of the second annular area.
3. The torque sensor according to claim 2 , further comprising:
a first position detection pattern that is provided in the first annular area; and
a second position detection pattern that is provided in the second annular area, wherein
the first sensor detects the first position detection pattern to detect the rotational position of the first annular area, and
the second sensor detects the second position detection pattern to detect the rotational position of the second annular area.
4. The torque sensor according to claim 1 , wherein
the circuitry is further configured to detect the torque, based on a phase difference between the rotational position of the first annular area and the rotational position of the second annular area.
5. The torque sensor according to claim 1 , wherein
the resilient body includes an additional spiral cutout portion that extends in a circumferential direction around the rotation center of the rotational body and forms an additional spiral spring portion of the resilient body, positions of the spiral cutout portion and the additional spiral cutout portion not overlapping each other.
6. The torque sensor according to claim 1 , wherein
the resilient body includes a cushioning material that is inserted into the spiral cutout portion.
7. The torque sensor according to claim 1 , wherein
the rotational body of the actuator has an output side that is coupled to another member to be rotated by the actuator by using an Oldham coupling.