Abstract: A capacitive pressure sensor includes a first electrode and a second electrode disposed on a surface of a folded flexible substrate. The first and second electrodes face each other and are separated from each other by a dielectric layer. The sensor can operate by generating an electrical signal related to a change in capacitance between the first and second electrodes. The change in capacitance results from a change in thickness of the dielectric layer due to an external pressure. The electrical signal can be transmitted from the capacitive pressure sensor to an external device.

Abstract: A robotic arm includes multiple joints and multiple links. The links are connected successively by the joints. At least two of the joints may each comprise a sensor configured to measure force and torque information in multiple DOF of its respective joint. In certain implementations, the sensor may be located between an input part of the respective one of the at least two joints and an output part of the respective one of the at least two joints.

Abstract: This disclosure provides methods for diagnosing a cognitive disorder including performing a tactile perception test on a subject, measuring the subject's tactile perception test performance with a microelectromechanical sensor, and performing a cognitive disorder diagnosis on the subject. The tactile perception test may include distinguishing between various shaped and sized objects and selecting a predetermined one. The tactile perception test may include a two-point discrimination test. The tactile perception test may include testing lower extremity coordination. The tactile perception test may include testing upper extremity coordination. The cognitive disorder may include dementia, Alzheimer's, brain trauma, or concussion. The microelectromechanical sensor may include an accelerometer or gyroscope.

Abstract: A robot hand guide device includes a first connection flange configured to connect the robot hand guide device to a tool flange of a robot arm, a second connection flange configured to fasten a tool to be handled by the robot arm to the robot hand guide device, and a transfer apparatus configured to transfer forces and torques between the first connection flange and the second connection flange. A sensor device attached to the transfer apparatus is configured to detect forces and torques transferred via the transfer apparatus. The robot hand guide device further includes at least a first connection element connected to the first connection flange and configured for detachably connecting a guide handle of the robot hand guide device to the first connection flange.

Abstract: The present invention provides a force sensor that is capable of detecting plastic deformation of a strain element. The force sensor detects components, in a plurality of directions, of a force exerted on the strain element. The force sensor includes: inspection strain gauges disposed in stress concentration areas of the strain element; and an inspection bridge circuit that includes the inspection strain gauges and that is configured to detect a component, in a specific direction, of a stress that occurs in the strain element.

Abstract: Contact-force-sensing systems that can provide additional information about the forces that are applied by catheters and other devices to cell walls and other surfaces. One example can provide directional information for a contact-force-sensing system. For example, magnitude, plane angle, and off-plane angle information can be provided by a contact-force-sensing system. Another example can provide guiding functionality for a contact-force-sensing system. For example, a contact-force-sensing system can provide tactile response to a surgeon or operator to allow a device to be accurately guided though a body.

Abstract: A multi-axis force and torque sensor and a robot are provided. The sensor includes a first supporting element, a second supporting element, a deformable component connected between the first supporting element and the second supporting element, and multiple signal pairs. The deformable component is configured to deflect in response to applied external force and torque in multiple directions. Each of the multiple signal pairs includes a magnet and a hall effect detector. The magnet is mounted on one of the first supporting element and the second supporting element, and the hall effect detector is mounted on the other. The hall effect detector is located corresponding to the respective magnet. One or more magnetization directions of the magnets of the signal pairs are different such that the signal pairs are capable of measuring force and torque applied on the first supporting element and the second supporting element in different directions.

Abstract: A capacitive pressure sensor includes a flexible substrate, a first electrode and a second electrode disposed on one surface of the flexible substrate so as to be spaced apart from each other and located to face each other when the flexible substrate is folded, a dielectric layer interposed between the first electrode and the second electrode, and a signal processing unit disposed on one surface of the flexible substrate and converting a capacitance, which changes as a thickness of the dielectric layer changes by external pressure in a state in which the flexible substrate is folded, into an electrical signal.

Abstract: A torque sensor including an annular deformation body disposed so as to surround a circumference of a rotation axis, an exertion support body, a fixing support body, and a detection circuit. The annular deformation body has four coupling parts, and four detection parts positioned between two coupling parts which are adjacent in the circumferential direction of the annular deformation body, the detection parts undergoing elastic deformation by exertion of torque. The detection parts each are formed in a convex shape on one side in a direction along the rotation axis and are formed in a concave shape on the other side in a direction along the rotation axis. The detection circuit outputs electric signals on the basis of elastic deformation undergone to the detection part of the annular deformation body.

Abstract: A contamination detector device may compute a cross-sensitivity of a pressure sensor based on an amount of pressure change sensed by the pressure sensor and an amount of acceleration change sensed by an acceleration sensor. The cross-sensitivity of the pressure sensor indicates a measure of sensitivity of the pressure sensor to acceleration. The contamination detector device may determine, based on the cross-sensitivity of the pressure sensor, whether the pressure sensor is contaminated. The contamination detector device may selectively perform a contamination action based on whether the pressure sensor is contaminated.

Abstract: A sensor device includes a base body including a recess, a lid body configured to close an opening of the recess, a force detection element disposed in the recess and configured to output an electric charge according to a received external force, and an electronic component disposed in the recess and electrically connected to the force detection element. A separation distance between the electronic component and the lid body is larger than a separation distance between the force detection element and the lid body in the thickness direction of the lid body.

Abstract: An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.

Abstract: A displacement detection type six-axis force sensor. The force sensor includes a first end portion; a second end portion; an intermediate portion; a first connecting portion elastically connecting the first end portion to the intermediate portion with first three-degrees of freedom; a second connecting portion elastically connecting the second end portion to the intermediate portion with second three-degrees of freedom; a first detecting part detecting relative displacement between the first end and intermediate portions, accompanied by elastic deformation of the first connecting portion; and a second detecting part detecting relative displacement between the second end and intermediate portions, accompanied by elastic deformation of the second connecting portion.

Abstract: An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.

Abstract: An acoustic probe includes a plurality of transducers that receives acoustic waves and a supporting body including a supporting portion having a symmetrical concave surface, such as a spherical cap surface, which supports the transducers in a spiral array. The supporting position R at which the supporting portion supports the transducers is given as R(r0, ?, ?) [m, rad, rad] by a polar coordinate with respect to a center of the symmetrical concave surface by setting a sphere radius, a zenith angle, and an azimuth angle as “r0”, “?”, and “?”, wherein the plurality of transducers is arrayed at a set azimuth angle spiral pitch in an azimuth angle direction and an axis direction spiral pitch set parallel to a central axis direction of the symmetrical concave surface, and wherein the azimuth angle spiral pitch is an angle acquired by dividing 2? by 1+golden number.

Abstract: A force/torque sensor includes a ground unit having an internal space, a sensor unit positioned within the internal space and including a plurality of electrodes generating capacitances with the ground unit, and a support unit combined with a portion of the ground unit and supporting the sensor unit.

Abstract: A force sensor includes: a deformable body having a force receiving portion and a fixed portion; a displacement body configured to generate a displacement by elastic deformation generated in the deformable body; and a detection circuit configured to detect an applied force on the basis of the displacement generated in the displacement body, in which the deformable body includes: a tilting portion arranged between the force receiving portion and the fixed portion; a first deformable portion that connects the force receiving portion and the tilting portion; and a second deformable portion that connects the fixed portion and the tilting portion, the displacement body includes a displacement portion connected to the tilting portion and separated from the fixed portion, the detection circuit includes a first displacement sensor and a second displacement sensor arranged in the displacement portion, and the detection circuit outputs a first electric signal indicating an applied force on the basis of a detection valu

Abstract: A torque sensor includes: an annular deformation body; first and second displacement electrodes which cause displacement by elastic deformation of the annular deformation body; first and second fixed electrodes arranged at positions opposite the first and second displacement electrodes; and a detection circuit that outputs an electric signal indicating a torque based on a variation amount of capacitance values of first and second capacitive elements each of which is configured of the displacement electrode and the fixed electrode. The annular deformation body includes a high elastic portion and a low elastic portion having a spring constant smaller than a spring constant of the high elastic portion. The detection circuit determines whether the torque sensor functions normally based on a ratio between first and second electric signals.

Abstract: A MEMS sensor that comprises a sensing reference plane, at least one anchor coupled to the sensing reference plane, wherein the sensing reference plane is divided by a first and a second axis forming four quadrants on the sensing reference plane, at least one proof mass coupled to the at least one anchor, wherein one of the at least one proof mass moves under an external excitation, and a pattern of sensing elements on the sensing reference plane to detect motion normal of the at least one proof mass relative to the sensing reference plane, wherein the pattern of sensing elements comprises at least three sensing elements in each of the four quadrants.

Abstract: In one aspect, the present disclosure provides a sliding bearing system, comprising (a) a base plate, (b) one or more force measuring sensors, wherein each of the one or more force measuring sensors includes a top surface and a bottom surface, and wherein the bottom surface of each of the one or more force measuring sensors is coupled to the base plate, and (c) a first sliding surface coupled to the top surface of each of the one or more force measuring sensors.

Abstract: A magnetic load sensor is provided which is high in axial rigidity. The load sensor includes a pair of parallel plate coupled together by coupling pieces. The coupling pieces are inclined relative to the axial direction such that when an axial load is applied to the parallel plates, the parallel plates are displaced relative to each other in a direction perpendicular to the axial direction, due to deflection of the coupling pieces. A magnetic target is mounted to the parallel plate, and a magnetic sensor element is mounted to the parallel plate such that when the parallel plates are displaced relative to each other in the direction perpendicular to the axial direction, the magnetic target and the magnetic sensor element are displaced relative to each other in the direction perpendicular to the axial direction.

Abstract: A manipulator includes a manipulation body having a plurality of bar-shaped portions which intersect orthogonally with each other at one intersection point, and a plurality of detection bodies which detect a displacement of the manipulation body. The plural bar-shaped portions include a bar-shaped portion and another bar-shaped portion which intersect orthogonally with each other. The plural detection bodies include a first detection body which detects a displacement of one end side of the bar-shaped portion with respect to the intersection point, a second detection body which detects a displacement of the other end side of the bar-shaped portion with respect to the intersection point, and a third detection body which detects a displacement of one end side of the bar-shaped portion with respect to the intersection point.

Abstract: Disclosed herein is a multi-axis force sensor which includes a vertical measurement module to measure a vertical component of force applied to a point of application, and a horizontal measurement module to measure a horizontal component of force applied to the point of application, wherein the vertical measurement module has a body horizontally moved by the horizontal component of force applied to the point of application, and the horizontal measurement module measures the horizontal component of force applied to the point of application, based on the movement of the body of the vertical measurement module.

Abstract: A force detection apparatus includes a first member, a second member, and a third member, the second member and the first member sandwich a plurality of piezoelectric elements (in a narrow sense, a first piezoelectric element and a second piezoelectric element), and the third member and the first member sandwich a plurality of piezoelectric elements (in a narrow sense, a third piezoelectric element and a fourth piezoelectric element) different from the plurality of piezoelectric elements sandwiched by the second member and the first member.

Abstract: Apparatus (2) for sensing and measuring and/or shear components of a force at an interface between two surfaces, which apparatus (2) comprises: (i) at least one flexible means (4) for receiving the pressure and/or shear components of the force; and (ii) transducer means (6) for producing electrical signals consequent upon movement of the flexible means (4) in response to the pressure and/or shear components of the force, and the apparatus (2) being such that: (iii) the flexible means (4) comprises first and second electrode parts (18, 20) which are spaced apart by the flexible means (12); (iv) the first and second electrode parts (18, 20) move solely towards each other as a result of the pressure component of the force being applied to the flexible means (4); and (v) the first and second electrode parts (18, 20) move towards and parallel to each other as a result of the shear component of the force being applied to the flexible means (4).

Abstract: The invention relates to an electronic device for determining a first positional information and a second positional information regarding a user input object, such as at least one user hand or at least one stylus, the electronic device comprising: a touch-sensitive surface; contact-free detection means; and controller means that are operatively connected to the touch-sensitive surface and to the contact-free detection means; wherein the first positional information depends on where the user input object contacts the touch-sensitive surface, and wherein the second positional information depends on the spatial configuration of the user input object with regard to the touch-sensitive surface, characterized in that the controller means are adapted for simultaneously and/or alternately determining the first positional information via the touch-sensitive surface and the second positional information via the contact free detection means.

Abstract: Methods and devices are provided for controlling movement of a distal end of a surgical instrument. In general, the methods and devices can allow for controlling movement of surgical tools, and in particular for causing mimicked motion between an external control unit and a surgical tool positioned within a patient's body. In one embodiment, a surgical system is provided having a master assembly including an input tool and a slave assembly including a surgical instrument. The master assembly and the slave assembly can be configured to be electronically coupled together such that movement of the master assembly can be electronically communicated to the slave assembly to cause mimicked movement of the slave assembly.

Abstract: In an electronic component mounting method, a light-emitting element is temporarily fixed to a board by solder paste and adhesive, the adhesive is cured to fix a main body of the light-emitting element to the board, and solder is melted to bond a terminal of the light-emitting element to the board. The method includes: detecting a positional deviation of an emission portion in a top surface of the light-emitting element; detecting a position of the light-emitting element in a state in which the light-emitting element is held by an absorption nozzle; positioning the emission portion to a prescribed position on the board based on the positional deviation and the position of the light-emitting element; mounting the light-emitting element on the board at a position deviated from the prescribed position by the positional deviation; curing the adhesive; and heating the board to melt the solder.

Abstract: A testing environment is provided in which both accelerometers and magnetometers can be tested in parallel, thereby decreasing the total cycle time for testing a semiconductor device package containing those devices. Embodiments of the present invention can also be configured to test singulated packages, thereby providing a tested and trimmed product that more accurately reflects the package delivered to the customer. In one embodiment, a series of device test locations within a testing region are configured to provide a known relationship with multiple fields of force. The device test locations are configured to provide sensitivity data from the packaged sensors in response to the directional forces. Embodiments provide a mechanism to transport the sensor packages from a device test location to a next device test location.

Abstract: This method of assisting the placement of construction elements of a civil engineering work, comprises: the adjustment (108) of the orientation of each construction element as a function of a discrepancy between a measured orientation for this construction element and an orientation setpoint, the supplying of the construction elements each equipped with at least one orientation sensor, fixed without any degree of freedom to the construction element, able to measure the inclination of this construction element with respect to three non-coplanar axes, and in which the adjustment (108) of the orientation of each element is carried out as a function of the discrepancy between the orientation measured by the orientation sensor fixed to this construction element and the orientation setpoint.

Abstract: Wireless strain and displacement sensors wirelessly monitor structural health and integrity, and are made by printing inductor-interdigital capacitor sensing circuits on a variety of substrates, including ceramic substrates, with thermally processable conductive inks. Sensors of the invention can be employed to detect strain and displacement of civil structures, such as bridges and buildings. The sensors include sensing elements that are mounted or printed on stiff, inflexible substrates, which prevent the sensing elements from bending, stretching, or otherwise warping when the sensor is strained. An interlayer between the sensing elements allows the sensing elements to move with respect to each other during application of strain. Thus, strain causes the sensing elements to move but not to deform, causing changes in sensor resonance that can be detected through wireless radio-frequency interrogation.

Abstract: A quad-axial force and torque measurement sensor is disclosed in the invention. The quad-axial force and torque measurement sensor includes a sensor main body which includes a polyvinylidene layer, a first circuit layer, and a second circuit layer. The polyvinylidene layer is located between the first circuit layer and the second circuit layer. The polyvinylidene layer includes a first polyvinylidene layer surface, a second polyvinylidene layer surface, a plurality of first electrodes, a plurality of second electrodes and a plurality of third electrodes. The first electrodes are located on the first polyvinylidene layer surface. The second electrodes and third electrodes are located on the second polyvinylidene layer surface, and the third electrodes are located around each of the second electrodes.

Abstract: A flexible force or pressure sensing mat includes a first sheet of electrically conductive first paths, a second sheet of electrically conductive second paths, and a sensing layer positioned between the first and second sheets. The first and second conductive paths are oriented transversely to each other, and the locations of their intersections define individual sensing areas or sensors. The sensing layer is made from materials that have first and second electrical characteristics—such as capacitance and resistance—that vary in response to physical forces exerted thereon. A controller repetitively measures the multiple electrical characteristics of each sensor in order to produce a near real time pressure distribution map of the forces sensed by the mat. The mat can be used on a patient support surface—such as a bed, cot, stretcher, recliner, operating table, etc.—to monitor and help reduce the likelihood of a patient developing pressure ulcers.

Abstract: A pressure sensing sheet includes at least first, second, and third layers wherein the first and third layers each have conductive paths defined therein that are separated by nonconductive spacers. The orientation of the conductive paths of the first layer are transverse to the orientation of the conductive paths of the third layer. The second layer is made of material that has an electrical characteristic that changes with applied pressure, such as, but not limited to, piezoresistive or piezoelectric material. The first and/or third layers are made from multi-material sheets wherein a first type of material will repel conductive particles when subjected to an autocatalytic coating process, while the second type of material will bond with the conductive particles during the autocatalytic coating process. The use of different materials in the first and/or third layers facilitates the manufacturing of the conductive paths and nonconductive spacers.

Abstract: With the Z-axis given as a central axis, on an XY-plane, arranged are a rigid force receiving ring, a flexible detection ring inside thereof, and a cylindrical fixed assistant body further inside thereof. Two fixing points on the detection ring are fixed to a supporting substrate, and two exertion points are connected to the force receiving ring via connection members. When force and moment are exerted on the force receiving ring, with the supporting substrate fixed, the detection ring undergoes elastic deformation. Capacitance elements or others are used to measure distances between measurement points and the fixed assistant body and distances between the measurement points and the supporting substrate. Elastic deformation of the detection ring is recognized for mode and magnitude, thereby detecting a direction and magnitude of force or moment which is exerted.

Abstract: Force and torque sensors (10, 10a) include a load-bearing element (12), and strain gauges (20, 22, 23) mounted on the load-bearing element (12) so that the strain gauges (20, 22, 23) generate outputs responsive to external forces and moments applied to the load-bearing element (12). The strain gauges (20, 22, 23) are configured, and the responsive outputs of the strain gauges (20, 22, 23) are processed such that the force and moment measurements generated by the sensors (10, 10a) are substantially immune from drift due to thermally-induced strain in the load-bearing element (12).

Abstract: A bearing unit (20) for measuring forces exerted on the bearing unit, comprising an inner member (3) concentrically arranged around an outer member (2), at least one rolling element bearing (4, 5) and at least one load measuring device (8, 9) with a cylindrical bore. The load measuring device (8, 9) is mounted to one of the members (3) and supports the rolling element bearing (4, 5) relatively to this member (3). The rolling element bearing (4, 5) is mounted to the other of the members (2) and supports this member (2) relatively to the load measuring device (8, 9). Thus, a force acting on the bearing unit is transferred from one of the inner and outer members (2, 3) to the other of the inner and outer members (2, 3) via the at least one load measuring device (8, 9). According to the invention, the at least one load measuring device (8, 9) and the at least one rolling element bearing (4, 5) are arranged laterally to each other in a radial gap between the inner and outer members (2, 3).

Abstract: A multi-degree of freedom transducer for converting manually applied forces and torques into electrical signals, and configured to be fixed to a base object. The transducer comprises a handle bar having two ends and a first longitudinal direction, and a supporting assembly suitable for fixing the two ends of the handle bar to the base object. The supporting assembly comprising a frame structure at each of the ends of the handle bar, wherein each of the frame structures comprises at least two measuring beams. At least one of the measuring beams includes a second longitudinal direction and at least one other of the measuring beams includes a third longitudinal direction. Each of the at least two measuring beams comprises two strain gauges configured to sense strain in the third longitudinal direction and arranged on two different, non-parallel side surfaces of each of the at least two measuring beams.

Abstract: A device for a touch-sensitive characterization of surface texture is disclosed. According to one aspect, the device includes at least one three-axis force sensor at least partially covered by a coating structure including at least one first part placed against the sensor and at least a second part placed against the first part such that the first part is arranged between the sensor and the second part. The second part may include at least one protrusion arranged on a side opposite the first part and a shoulder arranged against a first face of the first part of the coating structure, located on the side opposite a second face of the first part placed against the sensor. The hardness of the material of the first part is lower than the hardness of the material of the second part.

Abstract: A force sensing array includes multiple layers of material that are arranged to define an elastically stretchable sensing sheet. The sensing sheet may be placed underneath a patient to detect interface forces or pressures between the patient and the support structure that the patient is positioned on. The force sensing array includes a plurality of force sensors. The force sensors are defined where a row conductor and a column conductor approach each other on opposite sides of a force sensing material, such as a piezoresistive material. In order to reduce electrical cross talk between the plurality of sensors, a semiconductive material is included adjacent the force sensing material to create a PN junction with the force sensing material. This PN junction acts as a diode, limiting current flow to essentially one direction, which, in turn, reduces cross talk between the multiple sensors.

Abstract: This disclosure describes techniques for using a “low-profile” load cell to sense a force exerted by a load upon a target object in one or more of a first, second, and third directions relative to the target object. The techniques include using a plurality of sensing beams disposed between a sensing node and a base of the load cell, where each sensing beam is configured for sensing the force exerted by the load upon the sensing node in one or more of two directions relative to the load cell. For example, each sensing beam may include a first section configured to deform in response to a component of the force that corresponds to one of the first, second, and third directions, and a second section configured to deform in response to a component of the force that corresponds to another one of the first, second, and third directions.

Abstract: A universal force measurement apparatus has a top plate onto which a first test object is mounted. The top plate is connected to a middle plate via a sliding member, for example a linear ball slide having a one dimensional degree of freedom. A first load cell is connected to the top plate and the middle plate, hereby preventing them from moving relative to one another in the direction of the degree of freedom of the sliding member. The mid plate is then connected to a second load cell which registers forces in the vertical direction. The second load cell is also connected to a base plate which is placed on a rigid surface. Forces from another object or media acting on the first test object will now be registered by the first and second load cells in the horizontal and vertical directions.

Abstract: A dual mode capacitive touch panel includes a sensor substrate, an electrode layer comprising an array of sensor electrodes arranged over the sensor substrate, the array of sensor electrodes including a plurality of drive electrodes and a plurality of sense electrodes, each sensor electrode corresponding to a location on the sensor substrate, and a shield layer arranged over and spaced apart from the electrode layer. The shield layer includes a predetermined resistance that permits transmission of an electric field at a first frequency and prevents transmission of an electric field at a second frequency, wherein a spacing between the shield layer and the electrode layer is deformable as a result of a force applied to the shield layer due to a user touch, wherein the deformation alters a capacitance between the shield layer and a sensor electrode of the array.

Abstract: Force or pressure transducer arrays have elastically stretchable electrically conductive polymer threads disposed in parallel rows and columns that contact at intersections thereof a piezoresistive material which has an electrical resistivity which varies inversely with pressure or force exerted thereon to form a matrix array of force or pressure sensor elements. The threads are fixed to a single one or pair of flexible elastically stretchable substrate sheets made of thin sheets of an insulating polymer such as PVC, or for greater elasticity and conformability to irregularly-shaped objects such as human body parts, an elastically stretchable fabric such as LYCRA or SPANDEX. Elastic stretchability of the sensor arrays is optionally enhanced by disposing either or both row and column conductive threads in sinuously curved, serpentine paths rather than straight lines.

Abstract: A spacer block for gathering data to be used in the balancing of the joint arthroplasty or repair and in the selection of a trial insert which includes a first body piece and a second body piece. A plurality of sensors and a processor are positioned between the first body piece and the second body piece when the pieces are assembled together to form the spacer block. A chim is removably mounted to a top surface of the second body piece, the chim is associated with the plurality of sensors and positioned in relation to the plurality of sensors such that a force exerted on the chim by a weight bearing surface is detected by the plurality of sensors.

Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.

Abstract: With the Z-axis given as a central axis, on an XY-plane, arranged are a rigid force receiving ring, a flexible detection ring inside thereof, and a cylindrical fixed assistant body further inside thereof. Two fixing points on the detection ring are fixed to a supporting substrate, and two exertion points are connected to the force receiving ring via connection members. When force and moment are exerted on the force receiving ring, with the supporting substrate fixed, the detection ring undergoes elastic deformation. Capacitance elements or others are used to measure distances between measurement points and the fixed assistant body and distances between the measurement points and the supporting substrate. Elastic deformation of the detection ring is recognized for mode and magnitude, thereby detecting a direction and magnitude of force or moment which is exerted.

Abstract: A mobile platform with six degrees of freedom includes a static base plate, six branched chain, a dynamic moving plate and twelve fixing assembly. Each of the static base plate and the dynamic moving plate defines six spherical ball sockets. The dynamic moving plate is adjustably and movably mounted upon the static base plate. The six branched chains is adjustably assembled between the static base plate and the dynamic moving plate, enabling the dynamic moving plate to move relative to the static base plate along six degrees of freedom. Each branched chain comprises two ball heads rotatably engaged with one corresponding ball socket of the static base plate and one corresponding ball socket of the dynamic moving plate.

Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.

Abstract: A sensor device includes a package, a sensor element that is disposed in the package, and a lid that seals the package, in which the sensor element includes a contacting surface that comes in contact with the lid, the package includes a joint surface which is joined to the lid, and the contacting surface and the joint surface are not on the same flat surface.