This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a low-cost strain-gauge-based joint torque sensor that can be installed on every joint to provide direct torque measurements, eliminating the need for complex friction models and providing more accurate torque readings than estimation based on motor current. Simulation studies on a floating-based 2-DoF robot leg verified that the proposed framework accurately recovers contact force and location along the thigh and shin links. Through a calibration procedure, our torque sensor achieved an average 96.4% accuracy relative to ground truth measurements. Building upon the torque sensor, we performed hardware experiments on a 2-DoF manipulator, which showed sub-centimeter contact localization accuracy and force errors below 0.2 N.

翻译：本文提出一种利用分布式关节扭矩传感器与单个髋部安装的力/力矩传感器，在广义动量观测器框架下实现机器人腿部接触检测与定位的方法。我们设计了一种基于应变片的低成本关节扭矩传感器，可安装于每个关节以提供直接扭矩测量，从而无需复杂的摩擦模型，且相比基于电机电流的估计方法能提供更精确的扭矩读数。在浮动基座二自由度机器人腿上的仿真研究表明，所提框架能准确恢复沿大腿与小腿连杆的接触力及接触位置。通过标定流程，我们的扭矩传感器相对于真实测量值达到了平均96.4%的精度。基于该扭矩传感器，我们在二自由度机械臂上进行了硬件实验，结果显示接触定位精度优于厘米级，力误差低于0.2牛。