humanoid finger torque tester v3
FEBRUARY 2025 > MAY 2025
Designed and assembled a modular mechanical test rig to measure torque transmission efficiency in tendon-driven robotic fingers.
> Designed a modular system supporting MG90 servos and GL40 motors, measuring with a hx711 load cell and tendon-actuated finger.
> Identified torque loss primarily from tendon routing friction and angular misalignment between pulley and joint axes.
> Tested >3 finger geometries to evaluate joint stiffness, tendon routing, and mechanical advantage under load.
> Measured average fingertip torque of 0.09 N·m.
> Integrated HX711 load cell with custom mounting to measure fingertip forces; streamed data to MATLAB for visualization and analysis, identifying 0.09 N·m peak torque loss from tendon friction, compliance and pulley joint axis misalignment.
> v3 fixes the noticeble flex from the servo mounts when actuated.
