Torque sensor element and torque sensor

A torque sensor element for measuring a torque applied to a joint, the torque sensor element comprising:

• an outer frame to connect to a first side of a joint;
• an inner frame to connect to a second side of the joint, wherein the inner frame and the outer frame are coplanar;
• and
• a compliant arrangement connecting the outer frame to the inner frame, wherein the compliant arrangement comprises:
• a first member and a second member, each extending between and connecting the outer frame to the inner frame, and each member being resilient and deformable to permit at least some relative rotation between the outer frame and the inner frame in response to a torque applied to the joint;
• and
• a connecting structure extending between and connecting the first member and the second member, the connecting structure comprising a first portion intermediate the first member and the second member which is configured in response to a deformation of the first and/or second member to move by an amount determined by a degree of relative rotation between the outer frame and the inner frame caused by a torque applied to the joint,
• wherein each of the inner and outer frames are circular, and wherein the connecting structure is spaced from and disposed radially between the inner and outer frames,
• wherein each of the first member and the second member includes first and second radial sections and an intermediate section, and wherein for each of the first and second members, the first radial section extends from the outer frame to the intermediate section in a radial direction of the torque sensor element, the second radial section extends from the inner frame to the intermediate section in the radial direction, and the intermediate section extends circumferentially about the inner frame from the first and second radial sections to the connecting structure.

A torque sensor element for measuring a torque applied to a joint, the torque sensor element comprising:

• an outer frame to connect to a first side of a joint;
• an inner frame to connect to a second side of the joint, wherein the inner frame and the outer frame are coplanar;
• and
• a compliant arrangement connecting the outer frame to the inner frame, wherein the compliant arrangement comprises:
• a first member and a second member, each extending between and connecting the outer frame to the inner frame, and each member being resilient and deformable to permit at least some relative rotation between the outer frame and the inner frame in response to a torque applied to the joint;
• and
• a connecting structure extending between and connecting the first member and the second member, the connecting structure comprising a first portion intermediate the first member and the second member which is configured in response to a deformation of the first and/or second member to move by an amount determined by a degree of relative rotation between the outer frame and the inner frame caused by a torque applied to the joint,
• wherein the inner frame is circular, wherein the outer frame comprises first and second sections that collectively, partially surround the inner frame,
• wherein each of the first member and the second member includes first and second radial sections and an intermediate section, and wherein for each of the first and second members, the first radial section extends from the outer frame to the intermediate section in a radial direction of the torque sensor element, the second radial section extends from the inner frame to the intermediate section in the radial direction, and the intermediate section extends circumferentially about the inner frame from the first and second radial sections to the connecting structure.