Torque Estimation in Locked Adaptive Steering via Deformable Bushing

A stiff but deformable material (such as a rubber bushing or polymer component) is introduced as an intermediary element within the locking mechanism. This material deforms in response to external torque while remaining sufficiently stiff to maintain the locked state. The deformation serves as a physical mediator that preserves torque information even when the motor is depowered and the system is mechanically locked, allowing the controller to estimate torque through sensor measurements of the deformation.

The system implements a feedback mechanism where sensors continuously monitor the deformation of the stiff deformable material within the locking mechanism. This real-time feedback provides the controller with information about the current external torque level, enabling it to make informed decisions about when to unlock the system. The feedback loop allows the system to maintain the locked state during high torque events while automatically detecting when the torque has decreased to a safe level for unlocking.

The locking mechanism uses a material with specifically optimized mechanical properties - sufficiently stiff to maintain the locked state and prevent damage during high torque events, but with controlled deformability that allows measurable changes under torque loading. By carefully selecting and tuning the material parameters (such as using rubber bushings or specific polymers with known elastic properties), the system achieves both structural integrity and measurable deformation characteristics that enable accurate torque estimation through Hooke's Law relationships.