diff --git a/Actuators/Floating_Spring_Joint.md b/Actuators/Floating_Spring_Joint.md
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+++ b/Actuators/Floating_Spring_Joint.md
@@ -0,0 +1,22 @@
+# Floating Spring Joint
+
+tag: *DRL* *VSJ* 
+
+---
+![FSJ1](../meta/pic/FSJ1.png)
+
+Fig1. FSJ外观
+
+![FSJ2](../meta/pic/FSJ2.png)
+
+Fig2. FSJ半剖图
+
+FSJ最大的亮点是一个关节带有两个自由度，一个自由度用于控制位置，另一个自由度用于控制刚度。但是，由于机械构造的原因，刚度与第二个自由度的电机轴输出为非线性关系，而且，两个自由度之间存在一定的耦合，这给控制和建模带来了难度。
+
+## 变刚度原理
+![FSJ3](../meta/pic/FSJ3.png)
+
+![FSJ4](../meta/pic/FSJ4.png)
+
+## 拓展
+[1] The DLR FSJ: Energy based design of a variable stiffness joint, S. Wolf, et al. ICRA 2011.
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diff --git a/Robots/Floating_Spring_Joint.md b/Robots/Floating_Spring_Joint.md
deleted file mode 100644
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--- a/Robots/Floating_Spring_Joint.md
+++ /dev/null
@@ -1,22 +0,0 @@
-# Floating Spring Joint
-
-tag: *DRL* *VSJ* 
-
----
-![FSJ1](../meta/pic/FSJ1.png)
-
-Fig1. FSJ外观
-
-![FSJ2](../meta/pic/FSJ2.png)
-
-Fig2. FSJ半剖图
-
-FSJ最大的亮点是一个关节带有两个自由度，一个自由度用于控制位置，另一个自由度用于控制刚度。但是，由于机械构造的原因，刚度与第二个自由度的电机轴输出为非线性关系，而且，两个自由度之间存在一定的耦合，这给控制和建模带来了难度。
-
-## 变刚度原理
-![FSJ3](../meta/pic/FSJ3.png)
-
-![FSJ4](../meta/pic/FSJ4.png)
-
-## 拓展
-[1] The DLR FSJ: Energy based design of a variable stiffness joint, S. Wolf, et al. ICRA 2011.
\ No newline at end of file
diff --git "a/Sensors/\346\227\213\350\275\254\345\217\230\345\216\213\345\231\250 Resolver.md" "b/Sensors/\346\227\213\350\275\254\345\217\230\345\216\213\345\231\250 Resolver.md"
new file mode 100644
index 0000000..7592c45
--- /dev/null
+++ "b/Sensors/\346\227\213\350\275\254\345\217\230\345\216\213\345\231\250 Resolver.md"
@@ -0,0 +1,6 @@
+# 旋转变压器 Resolver
+
+tag: *Sensor* *Angle* 
+Auther: gzy
+
+---
\ No newline at end of file
diff --git "a/Sensors/\347\274\226\347\240\201\345\231\250 Encoder.md" "b/Sensors/\347\274\226\347\240\201\345\231\250 Encoder.md"
new file mode 100644
index 0000000..22e0542
--- /dev/null
+++ "b/Sensors/\347\274\226\347\240\201\345\231\250 Encoder.md"
@@ -0,0 +1,6 @@
+# 编码器 Encoder
+
+tag: *Sensor* *Angle* 
+Auther: gzy
+
+---
\ No newline at end of file
diff --git "a/Sensors/\351\234\215\345\260\224 Hall effect sensor.md" "b/Sensors/\351\234\215\345\260\224 Hall effect sensor.md"
new file mode 100644
index 0000000..2f2eb21
--- /dev/null
+++ "b/Sensors/\351\234\215\345\260\224 Hall effect sensor.md"
@@ -0,0 +1,6 @@
+# 霍尔 Hall effect sensor
+
+tag: *Sensor* *Angle* 
+Auther: gzy
+
+---
\ No newline at end of file