Tendon Tension Sensors

Lynxmotion Load Balancing Spring

• Price:  $1.95
• Pros:   Simple way to measure tendon tensions in conjunction with load sensor. Cheap.
• Cons: May be too bulky for our design. Introduces an extra part (spring+sensor as opposed to just sensor).

Flexible Piezo Sensor Strips

• Price:  $65 for four 7.75 in sensors from manufacturer or $20 for 1 from alternate website
• Pros:  
• Cons: Possibly cheaper options?

Flex Sensor

• Price:  $7.95 for a 2.2 inch sensor, $12.95 for 4.5 inch sensor
• Pros:   Attach one end to leg and the other to tendon. Tendon will cause sensor to bend and tension can be measured this way. Cheap. Can vary sensor voltage range by attaching sensor to a metal strip until we get the desired range for the sensor.
• Cons:  Unreliable and not durable?

Load Sensor

• Price:  $9.95
• Pros:   could attach the tendon to the sensor (perhaps with a "harness" ) or attach it to the motor itself.
• Cons:  Load range might not be appropriate

Strain Gauge

• Price:  Cheapest option is $80 for 10
• Pros:   Springer Handbook of Robotics suggests to use these for measuring tension
• Cons:  May be too complicated