Steering Gearbox
WARNING: This page is about a different car, the 2011 Honda Insight and 2010 Honda Insight. However, it is still accessible from the selected car via links, so may be relevant.
The steering force from the steering wheel is sent to the pinion shaft. The torque sensor measures the difference between the force applied to the pinion shaft and the resistance to turning the wheels due to road friction, and converts it to a voltage signal which is sent to the EPS control unit. Based on this signal, the EPS control unit controls the current to the EPS motor. The EPS motor shaft gear rotates the worm wheel gear which is part of the pinion shaft. This becomes the assist force in the steering system.