A torque sensor assembly (100, 200) comprising: an upper rotor (102, 202, 300, 400) mounted on an upper shaft axially disposed about a rotational axis (211, 511), the upper rotor (102, 202, 300, 400) comprising a plurality of magnets; an outer lower rotor (108, 208) axially disposed about the rotational axis (211, 511) and an inner lower rotor (110, 210) axially disposed about the rotational axis (211, 511), the outer lower rotor (108, 208) being axially disposed between the upper rotor (102, 202, 300, 400) and the inner lower rotor (110, 210); and at least one probe positioned between the inner lower rotor (110, 210) and the outer lower rotor (108, 208), the at least one probe measures axial flux generated by the upper rotor (102, 202, 300, 400) and directed by the inner lower rotor (110, 210) and the outer lower rotor (108, 208), wherein the outer lower rotor (108, 208) comprises an outer ringed frame with a plurality of teeth circumferentially disposed about the outer ringed frame to define a plurality of gaps between the plurality of teeth, wherein at least a portion of at least one tooth of the plurality of teeth extends radially inward, characterized in that the plurality of magnets is disposed within a non-magnetic structure (304, 408) of the upper rotor (102, 202, 300, 400), wherein the inner lower rotor (110, 210) comprises an inner ringed frame with a plurality of u-shaped teeth circumferentially disposed about the inner ringed frame, wherein at least one u-shaped tooth of the plurality of u-shaped teeth is circumferentially disposed within at least one gap of the plurality of gaps, wherein the at least one u-shaped tooth comprises an outer tooth surface that extends radially inward from the inner ringed frame, a channeled surface that axially extends from the outer tooth surface toward the outer lower rotor (108, 208), and an inner tooth surface that extends radially outward from the channeled surface. an upper rotor (102, 202, 300, 400) mounted on an upper shaft axially disposed about a rotational axis (211, 511), the upper rotor (102, 202, 300, 400) comprising a plurality of magnets; an outer lower rotor (108, 208) axially disposed about the rotational axis (211, 511) and an inner lower rotor (110, 210) axially disposed about the rotational axis (211, 511), the outer lower rotor (108, 208) being axially disposed between the upper rotor (102, 202, 300, 400) and the inner lower rotor (110, 210); and at least one probe positioned between the inner lower rotor (110, 210) and the outer lower rotor (108, 208), the at least one probe measures axial flux generated by the upper rotor (102, 202, 300, 400) and directed by the inner lower rotor (110, 210) and the outer lower rotor (108, 208), wherein the outer lower rotor (108, 208) comprises an outer ringed frame with a plurality of teeth circumferentially disposed about the outer ringed frame to define a plurality of gaps between the plurality of teeth, wherein at least a portion of at least one tooth of the plurality of teeth extends radially inward, characterized in that the plurality of magnets is disposed within a non-magnetic structure (304, 408) of the upper rotor (102, 202, 300, 400), wherein the inner lower rotor (110, 210) comprises an inner ringed frame with a plurality of u-shaped teeth circumferentially disposed about the inner ringed frame, wherein at least one u-shaped tooth of the plurality of u-shaped teeth is circumferentially disposed within at least one gap of the plurality of gaps, wherein the at least one u-shaped tooth comprises an outer tooth surface that extends radially inward from the inner ringed frame, a channeled surface that axially extends from the outer tooth surface toward the outer lower rotor (108, 208), and an inner tooth surface that extends radially outward from the channeled surface.