Yi-Hung Chen

A Compact Robotic Wrist with Embedded Torque Sensing for Peg-in-Hole Tasks

This paper presents the design and experimental validation of a torque-controlled robotic wrist for peg-in-hole tasks. The proposed wrist features a serial pitch-yaw joint configuration that enhances dexterity while maintaining compactness. The design integrates stepper motors, harmonic geartrains,