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93	93	=== Strain gage Joint-Torque Sensors ===
94		Barrett Technology offers a factory-installed torque sensor for the BH8-~~SERIES~~ System. This sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m (+/-2 kg at finger tip is about 20 N @ 5 cm = +/- 1 N-m). This option uses strain gages to measures the differential tension in the “tendon” running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed; it is accessed by requesting the present strain gage property. The strain gage property represents the amount strain on the strain gage sensors. The strain gage values can be calibrated by the customer to relate strain to joint torque.
	94	Barrett Technology offers a factory-installed torque sensor for the BH8-280 System. This sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m (+/-2 kg at finger tip is about 20 N @ 5 cm = +/- 1 N-m). This option uses strain gages to measures the differential tension in the “tendon” running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed; it is accessed by requesting the present strain gage property. The strain gage property represents the amount strain on the strain gage sensors. The strain gage values can be calibrated by the customer to relate strain to joint torque.