協作型機器人的安全性與順應性對於人機協同作業十分重要，為確保協作安全機器人內部需安裝感測器使機器人與作業人員或其他機器人發生碰撞時不造成損害，順應性則與機器人於移動軌跡中對力量變化的反應能力有關，例如醫療器具輔助夾持機器人需抵抗重力同時順應器具方位的調整。在機器人的每個關節安裝六軸力規可以使機器人具備良好的安全與順應性，但力規昂貴的價格會提高機器人的成本使其難以普遍應用於產業中，此時具備扭矩感測與控制功能的機器人關節模組便應運而生。目前已有許多機器人關節模組的扭矩感測技術例如電流感測、應變規或雙編碼器等方式，但電流感測容易受減速機的摩擦影響感測準確度；應變規對於安裝誤差則有較高的要求且佈線複雜，量測準確度還容易受溫度變化影響；雙編碼器安裝簡單且通常會安裝額外撓性結構於諧波齒輪與負載之間以串聯彈性致動器實現扭矩感測，但為了精確估測扭矩撓性結構的勁度普遍較低，致使關節模組的剛性低落。
本文以雙編碼器技術為基礎，利用步進馬達、皮帶輪、平面彈簧與諧波齒輪設計新型機器人關節模組，不同於現存之許多研究將扭矩感測結構置於諧波齒輪與負載之間，本文將扭矩感測結構置於馬達與諧波齒輪之間，利用諧波齒輪高減速比的特性放大扭矩感測結構的剛性。完成機構的設計後建立動力模型以及位置與扭矩控制系統並分析其穩定性，透過頻寬實驗與模型模擬研究不同配置下關節模組的位置與扭矩控制頻寬，統整後歸納出影響頻寬的主要因素。
本文針對非線性摩擦扭矩、柔輪變形以及諧波齒輪的傳動誤差補償以提升本模組的扭矩與位置控制準確度，並設計對應的實驗驗證摩擦補償對關節模組順應性的提升效果以及柔輪變形與傳動誤差補償對位置控制準確度的改善。

Robotic joints are key components of a robot. To ensure safe and accurate environment-robot interaction, a torque sensor is usually mounted at the output of a robotic joint to detect and control the output torque. Deformation-based sensors at the robotic joint output would significantly increase the joint size and complexity while decreasing the output rigidity in off-axis directions. To reduce the extra cost, size, and complexity due to the need of torque sensing, this paper proposes a torque-controlled robotic joint that does not rely on deformation-based sensing at the joint output. Instead, a torque sensor is mounted at the input of the harmonic drive. Hence, the size of the sensor can be minimized while the rigidity of the output can be maintained. Only encoders are required to sense and control the output torque. Experiments will be provided to demonstrate torque control accuracy and speed. Position control results will also show the comparable response to robotic joints that do not have torque sensors. We expect that this new robotic joint can provide a more competitive solution for collaborative robots to interact with humans or the environment.

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