Abstract: A positive-drive field actuator motor including a stator carrying at least one field actuator which changes in dimension responsive to application of an energy field, and at least one drive shoe movable by the dimensional changes of the field actuator to contact and move a rotor element with respect to the stator. Various embodiments of the motor are disclosed, and the rotor element may be moved linearly or arcuately.

Abstract: A triaxial force sensor using a hemispherical target supported by a compliant element such as a spring or an elastomer supported by a rigid support member. The sensor includes a plurality of ultrasonic transducers disposed in a plane at equal intervals about the target and vertically and laterally offset from the target. The transducers are oriented at an oblique angle to the plane, and aimed at the target in its rest position. The target is displaced by sufficient force applied to elastically deform the compliant element, which displacement alters the transit times of ultrasonic signals from the transducers which are reflected from the target. If at least three sensor units are employed non-colinearly, the six force-torque components, F.sub.x, F.sub.y, F.sub.z, M.sub.x, M.sub.y, M.sub.

Abstract: A triaxial force sensor using a hemispherical target embedded in a compliant layer such as an elastomer and having a plurality of ultrasonic transducers disposed in a plane at equal intervals about the target and vertically and laterally offset from the target. The transducers are oriented at an oblique angle to the plane, and aimed at the target in its rest position. The target is displaced by sufficient force applied to the surface of the compliant layer, which displacement alters the transit times of ultrasonic signals from the transducers which are reflected from the target. If at least three sensor units are employed non-colinearly, the six force-torque components, F.sub.x, F.sub.y, F.sub.z, M.sub.x, M.sub.y, M.sub.z, can be determined from the pulse transit times, the speed-of-sound in the compliant layer, the compressibility of the compliant layer, and the known geometry and spacing of the sensor units.

Abstract: A high-torque, low speed, positive-drive field actuator motor including a stator carrying at least one field actuator which changes in dimension responsive to application of an energy field, and at least one drive shoe movable by the dimensional changes of the field actuator to contact and move a rotor element with respect to the stator. Various embodiments of the motor are disclosed, and the rotor element may be moved linearly or arcuately.

Abstract: A force sensor and related method for determining force components. The force sensor includes a deformable medium having a contact surface against which a force can be applied, a signal generator for generating signals that travel through the deformable medium to the contact surface, a signal receptor for receiving the signal reflected from the contact surface, a generation controller, a reception controller, and a force determination apparatus. The signal generator has one or more signal generation regions for generating the signals. The generation controller selects and activates the signal generation regions. The signal receptor has one or more signal reception regions for receiving signals and for generating detections signals in response thereto. The reception controller selects signal reception regions and detects the detection signals.

Abstract: A sensor comprising a deformable medium, such as rubber, an ultrasonic transducer for transmitting a signal through the medium to a face of the medium and for sensing an echo of the signal returned from the face through the material to the transducer and circuit means for determining the time differential between transmission of the signal and return of the echo and for converting the time signal into a distance measurement.

Abstract: An apparatus and process for detecting and quantifying force-torque components applied to a loadable means. The apparatus includes a plurality of signal-transmission means, a plurality of signal-reflection means, a plurality of signal-detection means and a deformable means which is deformable in response to the application of force-torque components to the loadable means. Application of a force-torque component to the loadable means results in the alteration of the distance traveled by a signal from signal-transmission means to signal detection means. The apparatus further includes a means for utilizing the detected signals to determine force-torque components.

Abstract: A triaxial force sensor using a hemispherical target supported by a compliant element such as a spring or an elastomer supported by a rigid support member. The sensor includes a plurality of ultrasonic transducers disposed in a plane at equal intervals about the target and vertically and laterally offset from the target. The transducers are oriented at an oblique angle to the plane, and aimed at the target in its rest position. The target is displaced by sufficient force applied to elastically deform the compliant element, which displacement alters the transit times of ultrasonic signals from the transducers which are reflected from the target. If at least three sensor units are employed non-colinearly, the six force-torque components, Fx, Fy, Fz, Mx, My, Mz, can be determined from the pulse transit times, the speed-of-sound in the medium or media between the transducers and the target, the deformation response of the compliant element, and the known geometry and spacing of the transducers.