I'm trying to figure out how I can measure the current draw off my servo to create some sort of feedback - doing so without any physical modifications to my servo like a wire connected to the servo's Pot. My intention is something similar to this
From what I've understood and read so far, I'm meant to use the analog input of the arduino to get a serial reading after converting the voltage reading. This is understandable but since I'm supplying an external power supply with 6v which is greater than the 5v limit I'm confused as to how I'd do this. I've tried initially using the basics example (ReadAnalogVoltage) in the program and got the servo to sweep and the serialread was just zero's (everytime the horn rotated) so I was obviously doing something wrong but it was showing a reading everytime it moved.. so I thought I was getting somewhere. I had a 0.3ohm resistor connected at the output of the servo, and the wire connected to the analog input of the arduino and common ground for both. But after finding out I can't read anything higher than 5v thats where I'm stuck. I've read that using a voltage divider would get readings but I dont know how that would affect the servo's performance? Sorry if this all sounds messy but I'd appreciate any constructive advice as to where I could go from here.
Note: I'm trying to do this as part of a robot arm sort of mechanism and wanted to control the applied force of the "fingers" so that it doesn't crush fragile objects or stop when an object is in contact hence why I need to do this for more than one servo ( about 5) . I have considered FSR's but I'm 'trying' to minimize the cost of the project as much as possible. I've also considered current sensors but again, cost so if there are any other suggestions as to how I can tackle this problem that'd be great.