A torque detecting structure includes at least one torque detecting unit installed at a main shaft and including an electric connecting portion, at least one first terminal detachably and electrically connected to the electric connecting portion of the at least one torque detecting unit, and a torque detecting control unit electrically connected to the at least one first terminal.

A calibrated load cell includes a monolithic load beam having a first region, a second region on a distal end of the load beam from the first region for receiving a force from a load, and a third region arranged between the first and second regions, wherein the third region comprises a recess on one side of the load beam. A strain gauge is arranged in the recess for detecting a deformation of the third region from the load and for generating a strain gauge output signal proportional to the deformation of the third region. The load cell also includes a microcontroller arranged in the recess for receiving and processing the strain gauge output signal to produce a load cell output signal that represents the load on a load cell output cable. The microcontroller transforms the strain gauge output signal based on calibration parameters to produce the load cell output signal as a calibrated load cell output signal.

A calibrated load cell includes a monolithic load beam having a first region, a second region on a distal end of the load beam from the first region for receiving a force from a load, and a third region arranged between the first and second regions, wherein the third region comprises a recess on one side of the load beam. A strain gauge is arranged in the recess for detecting a deformation of the third region from the load and for generating a strain gauge output signal proportional to the deformation of the third region. The load cell also includes a microcontroller arranged in the recess for receiving and processing the strain gauge output signal to produce a load cell output signal that represents the load on a load cell output cable. The microcontroller transforms the strain gauge output signal based on calibration parameters to produce the load cell output signal as a calibrated load cell output signal.

An analysis method for analyzing pressure exerted by a body portion and/or of a human prosthesis includes: sampling data generated by the body portion and/or the prosthesis during a threshold calibration period at a sampling frequency in a condition of use thereby obtaining an array of sampled data of at least one sensing unit; providing at least one threshold value of the sampled data for the condition of use and storing the least one threshold value in a memory unit; comparing at the sampling frequency the sampled data with the at least one threshold value to obtain calibrated data, and storing the calibrated data in the memory unit and/or sending the calibrated data to a computing device if the calibrated data is greater than the at least one threshold value. A sensing device for sensing the pressure exerted by a body portion and/or the human prosthesis is also provided.

An analysis method for analyzing pressure exerted by a body portion and/or of a human prosthesis includes: sampling data generated by the body portion and/or the prosthesis during a threshold calibration period at a sampling frequency in a condition of use thereby obtaining an array of sampled data of at least one sensing unit; providing at least one threshold value of the sampled data for the condition of use and storing the least one threshold value in a memory unit; comparing at the sampling frequency the sampled data with the at least one threshold value to obtain calibrated data, and storing the calibrated data in the memory unit and/or sending the calibrated data to a computing device if the calibrated data is greater than the at least one threshold value. A sensing device for sensing the pressure exerted by a body portion and/or the human prosthesis is also provided.

Systems and methods to test robotic end effectors may comprise a testing rig having variable mass properties. The testing rig may include a variable weight assembly and a movement assembly that can adjust a position or orientation of the variable weight assembly. In this manner, the testing rig can be modified to simulate or replicate mass properties of a plurality of items, and grasp performance of a robotic end effector may be measured using the testing rig. Further, simulation models of end effectors and items may be validated based on actual grasp performance of a robotic end effector and the testing rig having variable mass properties.

Systems and methods to test robotic end effectors may comprise a testing rig having variable mass properties. The testing rig may include a variable weight assembly and a movement assembly that can adjust a position or orientation of the variable weight assembly. In this manner, the testing rig can be modified to simulate or replicate mass properties of a plurality of items, and grasp performance of a robotic end effector may be measured using the testing rig. Further, simulation models of end effectors and items may be validated based on actual grasp performance of a robotic end effector and the testing rig having variable mass properties.

A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

A force measurement assembly is disclosed herein. The force measurement assembly includes a top component, the top component having a top surface for receiving at least one portion of the body of the subject; a single force transducer supporting the top component, the single force transducer configured to sense one or more measured quantities and output one or more signals that are representative of forces and/or moments being applied to the top surface of the top component by the subject; and a base component disposed underneath the single force transducer, the base component configured to be disposed on a support surface.

According to examples, an optical fiber-based sensing membrane may include at least one optical fiber, and a substrate. The at least one optical fiber may be integrated in the substrate. The optical fiber-based sensing membrane may include, based on a specified geometric pattern of the at least one optical fiber, an optical fiber-based sensing membrane layout. The substrate may include a thickness and a material property that are specified to ascertain, via the at least one optical fiber and based on the optical fiber-based sensing membrane layout, a thermal and/or a mechanical property associated with a device, or a radiation level associated with a device environment.