Abstract: Apparatus for direct measurement of torque includes a shaft rotatably mounted in a shaft support and a driver collar rotatably mounted to the shaft. A driven collar is fixed to said shaft and concentric with the driver collar and shaft, and a resilient element is disposed between the driver and driven collars, for transferring rotary motion between the driver and driven collars in response to rotation of either the shaft or the driver collar. A sensor, disposed between the driver and driven collars, is provided for measuring an angular displacement of the driver collar relative to the driven collar in order to provide a direct measurement of torque.

Abstract: An apparatus for direct measurement of torque in an articulated joint includes a driver assembly, a driven assembly with said driver assembly and driven assembly mounted on a common axis, for enabling angular displacement of the driven assembly relative to said driver assembly about said common axis. An interlock is provided and is responsive to a remote actuator, for rotating said driven assembly relative to said driven assembly, and at least one force sensor is disposed in a position for transmitting rotational force from said interlock to said driven assembly, for measuring said rotational force in order to provide a torque measurement.

Abstract: Apparatus for direct measurement of torque in an articulated joint includes a driver assembly, and a driven assembly. The driver and driven assembly are mounted on a common shaft allowing angular displacement between the driver and driven assemblies. A resilient driver is provided for rotating the driven assembly relative to the driver assembly and a sensor is provided for directly measuring torque as indicated by the angular displacement of the resilient driver relative to the driven assembly. A second sensor may be provided to measure the angular position of the driven assembly relative to the driver assembly.