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.