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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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An Angular Sensor Based on Differential Electrical Signals at the Rotating Interface for Humanoid Robot Control and

Yangyang Li¹, Zhixin Wang¹, Shilin Huang¹

¹Flexible Electronics Research Center, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, PR China.

ACS Applied Materials & Interfaces

|December 5, 2025

Summary

This study introduces a novel, compact angular sensor for intelligent robots. The differential electrical signal sensor offers high sensitivity and durability, overcoming limitations of traditional technologies for improved motion control and human-robot interaction.

Keywords:

angular sensor differential electrical signals human-robot interaction humanoid robot long-term durability

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Area of Science:

Robotics
Sensor Technology
Materials Science

Background:

Intelligent robots require precise motion control, relying on accurate joint position data from angular sensors.
Traditional angular sensors (photoelectric, electromagnetic) are often bulky and power-hungry, hindering integration into compact robotic systems.

Purpose of the Study:

To develop a novel, compact, and high-performance angular sensor for intelligent robots.
To overcome the size, power consumption, and accuracy limitations of existing angular sensing technologies.

Main Methods:

Designed an angular sensor utilizing differential electrical signals generated at a rotating interface.
Employed alternately arranged electrodes (stator) and a dielectric film (rotor).
Optimized electrode structure and dielectric material for enhanced sensitivity and reduced wear.

Main Results:

Achieved high angular displacement sensitivity (24.5 nC/rad) and angular velocity sensitivity (23.3 nA s/rad).
Demonstrated reduced wear and enhanced long-term stability through material and surface optimization.
Developed a lightweight, compact sensor suitable for direct integration into robot joints.

Conclusions:

The novel differential electrical signal angular sensor offers a breakthrough in size, power, and accuracy for robotics.
Enables real-time kinematic monitoring, trajectory planning, and robotic teleoperation.
Presents promising prospects for advanced robotics and human-robot interaction applications.