This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

A method and a robot controller for controlling a robot arm, where the robot arm comprises a plurality of robot joints connecting a robot base and a robot tool flange, where each of the robot joints comprises an output flange movable in relation to a robot joint body and a joint motor configured to move the output flange in relation to the robot joint body. The robot arm is controlled based on vibrational properties of at least one external object connected to the robot arm, where the vibrational properties are received via an external object installation interface by generating control signals for said robot arm based on a target motion and the received vibrational properties of the at least one external object, the control signal comprises control parameters for said joint motor.

A method and a robot controller for controlling a robot arm, where the robot arm comprises a plurality of robot joints connecting a robot base and a robot tool flange, where each of the robot joints comprises an output flange movable in relation to a robot joint body and a joint motor configured to move the output flange in relation to the robot joint body. The robot arm is controlled based on vibrational properties of at least one external object connected to the robot arm, where the vibrational properties are received via an external object installation interface by generating control signals for said robot arm based on a target motion and the received vibrational properties of the at least one external object, the control signal comprises control parameters for said joint motor.

A load sensor having a centrally disposed aperture element through which a fastening element of a vehicle air suspension assembly passes to affix the load sensor between the vehicle air suspension assembly and the vehicle suspension, wherein the load sensor has a force measurement sensor disposed proximate an elongate slot to generate a load signal which varies based on an amount of strain in the load sensor, wherein the load signal received by a load calculator allows calculation of the load exerted from the vehicle frame to the vehicle suspension.

Spatially-distributed resonant MEMS sensors are coordinated to generate frequency-modulated signals indicative of regional contact forces, ambient conditions and/or environmental composition.

Spatially-distributed resonant MEMS sensors are coordinated to generate frequency-modulated signals indicative of regional contact forces, ambient conditions and/or environmental composition.

A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

A surgical instrument unit includes a shaft having an end effector at the tip end, a hollow base, and a strain generating part that supports a root part of the shaft in the base. The strain generating part has a first-layer strain generating body and a second-layer strain generating body arranged in order in a long axis direction of the shaft, each of the first-layer strain generating body and the second-layer strain generating body including a multidirectional strain generating body supporting a root part of the shaft with a plurality of legs. The first strain generating body is inclined by a predetermined angle θ with respect to a plane orthogonal to a long axis of the shaft, and the second strain generating body is inclined by an angle−θ opposite to each leg of the first strain generating body with respect to the plane.