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The SRTS enables measurement of position, velocity, and torque of a rotating system (e.g., actuator, motor, crankshaft, rotor, etc.) using two optical sensors and a single, custom-designed split-ring rather than the standard dual-ringed systems commonly used for similar applications. The split-ring is comprised of two structural arcs positioned in a concentric, coplanar relationship, wherein each arc is attached to a component capable of rotation (e.g., a lower leg and upper leg, where the SRTS acts as a knee). The two arcs contain indications or codes on their outer surfaces that are read by the optical sensors to determine the relative deflection of the structural arcs as they rotate. The SRTS configuration discussed above is limited to 180-degree applications. The addition of a third structural arc and a third optical reader, however, would enable 360-degree functionality. Tests have shown the SRTS has a high degree of tolerance to temperature differences and provides higher resolution measurements than competing technologies.

R2 uses brushless DC motors, harmonic drive gear reductions, and electromagnetic failsafe brakes as the building blocks for the powerful, torque-dense actuators in its human-scale, 5 DoF upper arms. Moreover, the use of series elastic actuators and novel tension sensing & control systems represent some of the most innovative technologies present in the humanoid robotic arms of R2. Series Elastic Actuators (SEAs): R2’s SEAs achieve fine torque sensing at each of its joints without sacrificing strength or payload capacity. Such capabilities are enabled through the development of several advanced technologies. Specifically, novel planar torsion springs (U.S. Patent No. 8,176,809) are integrated into each rotary series elastic actuator (U.S. Patent No. 8,291,788), while two absolute angular position sensors, calibrated using a novel technique (U.S. Patent No 8,250,901), measure the deflection of each spring. Force and Impedance Control Systems (U.S. Patent No. 8,525,460): These systems use position sensor signals for sending position data to an embedded processor that determines the positional orientation of the load relative to a motor shaft and its related torque on a string. A FPGA-based controller (U.S. Patent No. 8,442,684) provides a high-speed (10 KHz) control loop for the electric motor and gear reduction assembly present in R2 joints. Tension Sensing & Control of Tendon-Based Robotic Manipulators: NASA has also developed technologies to provide tension sensing & control of humanoid robotic arms. First, a tendon tension sensor (U.S. Patent No. 8,371,177) measures strain on tendons (strings) employed in robotic arms. A novel calibration system (U.S. Patent No. 8,412,378) calibrates the tendon tension sensors. Finally, joint space impedance control systems (U.S. Patent Nos. 8,170,718 & 8,060,250) provide closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints, as well as programmable Cartesian arm stiffness.