A pipe running tool for use in an oil drilling system and the like comprises a lower drive shaft adapted to engage a drive shaft of a top drive assembly for rotation therewith. A target steered angle is computed based on the first assist torque component and the steering torque, and a second assist torque component is set based on the target steered angle and an actual steered angle. A first compressible interface element including a layer of insulating material having a plurality of conductive elements extending through the insulating material layer is postioned intermediate the shielded land area and the signal array.