Abstract: A force sensing device for use in a robotic finger including: a first segment, the first segment having a first joint at a first end thereof; a second segment, the second segment being connected to the first segment by a second joint; and a third segment, the third segment being connected to the second segment by a third joint; and torque sensor for sensing the torque at each of the joints when a force is applied to the third segment. The first, second and third joints are disposed within the same plane and are disposed in a triangular arrangement.

Abstract: Certain examples described herein provide a method of controlling a robotic device including a body, an end effector coupled to the body by one or more joints and a propulsion system to drive the one or more joints to control a state of the robotic device. Example methods include applying impedance control to the robotic device; determining a reference trajectory of the end effector; detecting an applied external force and/or torque acting on the robotic device causing a departure from the reference trajectory; calculating an adjustment to be applied to one or more of the one or more joints to compensate for the detected applied external force and/or torque; and using the calculated adjustment to control the one or more joints to actuate the end effector and recover the reference trajectory of the end effector.