Abstract: A single axis force sensor assembly for sensing compressive and tensile forces along a first axis includes a first member having a center hub and a plurality of arms extending radially outward therefrom. Each of the plurality of arms terminate at a peripheral flange of the first member. Strain sensing gauges are mounted to at least one of the plurality of arms so as to detect mechanical deformation of the arm or arms to which the gauges are attached. A second member is joined to the center hub such that the first and second members are oriented generally parallel to one another. A gap extends between the first member and the second member. A circuit carrying substrate may be physically incorporated as a part of the force sensor assembly, i.e., above and adjacent to the plurality of arms. A circuit of the circuit carrying substrate is electrically connected to the strain sensing gauges.

Abstract: A force-moment sensor, as an article of manufacture, for detecting and controlling movements of a robot arm, positionable between the arm and a tool wherein a pair of parallel disc or plate members are joined together adjacent their outer peripheries by a plurality of spaced apart unitary bridge elements or members to form a cylindrical chamber between the discs. In one form the ring member between the disc members has formed therein at least three generally circular or polygonal shaped bridge elements, each having a central opening therethrough. Each of the bridge elements extends across a slot extending circumferentially around a portion of and through the ring between the bridge elements, and a pair of slots at each end of and angularly transverse to the circumferential slot to define the circular bridge elements. In another form the two discs have complementary recesses cut at equal intervals in their peripheries to receive one or more platelets welded therein to the discs apart.

Abstract: A device suitable for controlling a robot operating arm includes a drive link between a driving member and a driven member determines forces and moments acting to resist movement therebetween. The drive link has two parallel plates connected together by three or more bridge members each having an arch configuration in at least one edge. Strain gauges on the bridge members detect mechanical forces and moments acting on the plates. Feedback of the strain gauge signals are used to control vector forces applied by the driving element to the work site of the operating arm.

Abstract: A ski binding assembly includes a releasable binding for rigidly securing a ski boot to the ski with a release actuating element for releasing the ski boot from the binding upon occurrence of a release condition determined by a preprogrammed control. The releasable binding includes circular elements, nested one within the other, and a detent for selectively locking the elements together while being capable of unlatching the elements upon operation of the release actuating element.