The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

An electric clip, such as may be utilized with a leak detector, has a base which receives an insert to secure an inserted material, such as a mesh, there between. The insert has an arm with opposing hooks which pass through a first slot in a biased manner and then spring out once through to provide an assembled configuration. The clip can be secured to the material, such as by directing fingers through a second slot in a biased manner which then return once through to retain on a ledge.

A force sensor unit includes a force sensor, a casing housing the force sensor within a space surrounded by one end portion, another end portion, and a side portion, an attachment member having a first attachment portion that can be attached to a robot arm of a robot and a second attachment portion detachably attached to the one end portion of the casing in a position different from that of the first attachment portion, and a wiring cable connected to the force sensor and routed from inside the casing to outside of the casing, wherein a positioning portion for positioning with respect to the robot arm is provided in the first attachment portion, and a part of the wiring cable is provided along a circumferential direction of the side portion.

A force sensor unit includes a force sensor, a casing housing the force sensor within a space surrounded by one end portion, another end portion, and a side portion, an attachment member having a first attachment portion that can be attached to a robot arm of a robot and a second attachment portion detachably attached to the one end portion of the casing in a position different from that of the first attachment portion, and a wiring cable connected to the force sensor and routed from inside the casing to outside of the casing, wherein a positioning portion for positioning with respect to the robot arm is provided in the first attachment portion, and a part of the wiring cable is provided along a circumferential direction of the side portion.

The invention discloses a multi-sensor-based mechanical measurement system, comprising a sensor, a digital-to-analog conversion unit and a calculation unit; The said sensor include a plurality of sensors, and each of the sensors is connected to the said digital-to-analog conversion unit through a respective analog input channel; The said digital-to-analog conversion unit converts the data and transmits it to the calculation unit; The said computing unit performs a primary calibration on the said sensor corresponding to each of the said analog input channels according to the signal transmitted by each of the analog input channels one by one respectively, and performs secondary calibration according to the primary calibration results of all the said sensors. The invention has the advantages of high precision, high stability, high reliability, low error, low cost, easy maintenance, low failure rate, no need for pairing, strong adaptability to environment and location, light and compact, flexible expansion and the like.

The invention discloses a multi-sensor-based mechanical measurement system, comprising a sensor, a digital-to-analog conversion unit and a calculation unit; The said sensor include a plurality of sensors, and each of the sensors is connected to the said digital-to-analog conversion unit through a respective analog input channel; The said digital-to-analog conversion unit converts the data and transmits it to the calculation unit; The said computing unit performs a primary calibration on the said sensor corresponding to each of the said analog input channels according to the signal transmitted by each of the analog input channels one by one respectively, and performs secondary calibration according to the primary calibration results of all the said sensors. The invention has the advantages of high precision, high stability, high reliability, low error, low cost, easy maintenance, low failure rate, no need for pairing, strong adaptability to environment and location, light and compact, flexible expansion and the like.

A compact load cell that simultaneously measures normal and shear forces in a load plane offset from a sensor plane by a distance h. The compact load cell comprises at least three force sensing elements (preferably four) arranged in the sensor plane about a point and spaced a distance d from the point. All force sensing elements may be spaced by the same distance or the distance may be different for one or more force sensing elements. Each force sensing element comprises a pressure sensor encased in a force transmission medium. A load plate is in contact with the force transmission medium and a load beam is connected at one end to the load plate above the point of the sensor plane and extends to the load plane. Forces acting in the load plane are transmitted to the sensor plane by the load beam and load plate. The forces are resolved to determine the normal and shear forces acting at the load plane. The compact load cell may be applied to determine forces acting on, for example, an unmanned aerial vehicle.

A compact load cell that simultaneously measures normal and shear forces in a load plane offset from a sensor plane by a distance h. The compact load cell comprises at least three force sensing elements (preferably four) arranged in the sensor plane about a point and spaced a distance d from the point. All force sensing elements may be spaced by the same distance or the distance may be different for one or more force sensing elements. Each force sensing element comprises a pressure sensor encased in a force transmission medium. A load plate is in contact with the force transmission medium and a load beam is connected at one end to the load plate above the point of the sensor plane and extends to the load plane. Forces acting in the load plane are transmitted to the sensor plane by the load beam and load plate. The forces are resolved to determine the normal and shear forces acting at the load plane. The compact load cell may be applied to determine forces acting on, for example, an unmanned aerial vehicle.

A stator angle is determined to correct a value measured by a wheel force transducer. A mounting bracket is rigidly attached to a vehicle and supports a housing within which a rotary encoder is mounted. A stator rod retainer is aligned with a rotational axis of the rotary encoder and has a through-bore extending perpendicular to the rotational axis. The stator rod retainer rotates relative to a stationary portion of the rotary encoder using at least one bearing, and the stator rod retainer supports a first end of a stator rod for substantially free movement through the through-bore. A controller determines, when the second end of the stator rod is fixedly attached to an encoder stator attached to a wheel, a stator angle of the stator rod used for adjusting at least one value associated with the wheel that is measured using the encoder stator.

A stator angle is determined to correct a value measured by a wheel force transducer. A mounting bracket is rigidly attached to a vehicle and supports a housing within which a rotary encoder is mounted. A stator rod retainer is aligned with a rotational axis of the rotary encoder and has a through-bore extending perpendicular to the rotational axis. The stator rod retainer rotates relative to a stationary portion of the rotary encoder using at least one bearing, and the stator rod retainer supports a first end of a stator rod for substantially free movement through the through-bore. A controller determines, when the second end of the stator rod is fixedly attached to an encoder stator attached to a wheel, a stator angle of the stator rod used for adjusting at least one value associated with the wheel that is measured using the encoder stator.