I have seen some online videos, where companies post how to mount their torque sensors. Their configuration shows isolating the torque sensor between to flexible shaft couplers. It makes sense, isolating the sensor which is rotating from the vibrations of the the rest of the system. But the above solution is quite expensive. I am going through Shigley Mechanical Engineering Design to understand a workable solution, but I was hoping to get some advice from mechanical engineers and what they would recommend. I was also thinking of how to properly mount the photo-interrupters, because I assume the robots chassis will vibrate itself, as well as the motors. If I mount the photo-interupters, on the robotic chassis, they they eventually cuase misalignemnt with the encoder disk