cs.ROSep 27, 2026

A Disk-Shaped Magnetoelastic Torque Sensor for Robotic Joints Using Permanent Magnetization

Authors: Bruno Brajon, Enrico Gasparin, Nicole Yazigy, Lisa Salamin, Florian Copt, Guzmán Borque Gallego, Elias Klauser, Gaël Close

Organizations: Melexis Technologies SA, Bevaix, Switzerland · CSEM SA, Neuchˆatel, Switzerland

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Abstract

Direct torque sensing is a growing need in the robotics community to enable precise control and interactions where torque estimation from motor current is not sufficient. This paper presents a novel disk-shaped magnetoelastic torque sensor with a compact axial envelope of about 1 cm, suitable for integration in robotic joints. A four-magnetometer architecture is used to measure the field modulated by the stress affecting a narrow magnetized region while rejecting the effects of parasitic cross forces. A custom-designed magnetic shield enhances the torque sensitivity while reducing the external stray fields by a factor 7x. The device measures the torque with an accuracy of 1.34 %FS relative to the 50 Nm full scale (FS). The paper details the development of the sensor through the mechanical design, the magnetization procedure, and the experimental validation. The results demonstrate the potential of the proposed sensor for robotic applications.

Figures & tables

 This workNCTE [ 20 ]AIDIN [ 21 ]ForceN [ 22 ]
ApplicationRoboticsE-bikesRoboticsRobotics
TechnologyMagnetoelasticMagnetoelasticCapacitiveStrain Gauge
Size (D  × \,{\times}\, H) [mm]Ø70 ×\times 12.4Ø17 ×\times 140Ø84 ×\times 14Ø61 ×\times 9.5
Full scale [ N m\mathrm{N}\text{\,}\mathrm{m} ]502005045
Resolution ∗ [ mN m\mathrm{mN}\text{\,}\mathrm{m} ]41.42407.072.65
NFR ∗ [bits]8.5181112.3
TABLE I: Comparison of torque sensors.
 This workNCTE [ 20 ]AIDIN [ 21 ]ForceN [ 22 ]
ApplicationRoboticsE-bikesRoboticsRobotics
TechnologyMagnetoelasticMagnetoelasticCapacitiveStrain Gauge
Size (D  × \,{\times}\, H) [mm]Ø70 ×\times 12.4Ø17 ×\times 140Ø84 ×\times 14Ø61 ×\times 9.5
Full scale [ N m\mathrm{N}\text{\,}\mathrm{m} ]502005045
Resolution ∗ [ mN m\mathrm{mN}\text{\,}\mathrm{m} ]41.42407.072.65
NFR ∗ [bits]8.5181112.3
TABLE I: Comparison of torque sensors.

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