A torque sensor is provided that includes a deformable plate that includes an inner part and an outer part. The torque sensor may also include one or more elastic elements that connect the inner part and the outer part. The torque sensor may also include a transducer mounting plate that is rigidly connected to the inner part of the deformable plate. In certain embodiments, the elastic elements include at least one serpentine-shaped elastic element. In other embodiments, the elastic elements may include a beam structure. In some embodiments, the torque sensor includes a plurality of zeroing pins and zeroing pin slots which, when engaged, constrain the rotation of the torque sensor to a smaller zeroing range. In certain embodiments, the torque sensor may also include a plurality of hard stop pins that engage a stopping when an applied torque exceeds a predetermined threshold.