Reaction-type torque cells

A printed circuit board for an actuator of a humanoid robot, the printed circuit board comprising:

• a board assembly comprising:
• a plurality of board layers arranged in a stacked configuration, the plurality of board layers comprising a top layer;
• and
• a central aperture extending through the plurality of board layers;
• a plurality of sets of wiring contacts positioned on the top layer of the board assembly, wherein each set of wiring contacts in the plurality of sets of wiring contacts is (i) positioned to align with a respective strain gauge of a plurality of strain gauges to be affixed to the actuator of the humanoid robot and (ii) configured to receive electrical signals from the respective strain gauge, wherein the plurality of sets of wiring contacts comprises:
• a first set of wiring contacts;
• a second set of wiring contacts positioned 90 degrees from the first set of wiring contacts about the central aperture of the board assembly;
• a third set of wiring contacts positioned 90 degrees from the second set of wiring contacts about the central aperture of the board assembly, wherein the third set of wiring contacts is positioned opposite the first set of wiring contacts;
• and
• a fourth set of wiring contacts positioned 90 degrees from the third set of wiring contacts about the central aperture of the board assembly, wherein the fourth set of wiring contacts is positioned opposite the second set of wiring contacts;
• and
• a measurement circuit formed on one or more layers of the plurality of board layers of the board assembly, wherein the measurement circuit is (i) electrically coupled to each set of wiring contacts in the plurality of sets of wiring contacts and (ii) configured to receive and process the electrical signals from the plurality of strain gauges to determine a torque measurement associated with the actuator of the humanoid robot.