To present different force senses depending on visually-recognizable patterns by using magnetic bodies which are preliminarily magnetized. A force sense presenting object includes: a base object that includes a first surface, which is preliminarily magnetized with a first texture including an S-pole region and an N-pole region; a first sheet that is provided with a first pattern, which is visually recognizable, and is layered on the first surface side of the base object; a second sheet that is provided with a second pattern, which is visually recognizable and is different from the first pattern, and is layered on the first surface side of the base object; a first contact object that includes a second surface which is preliminarily magnetized with a second texture including an S-pole region and an N-pole region; and a second contact object that includes a third surface which is preliminarily magnetized with a third texture which includes an S-pole region and an N-pole region and is different from the second texture.

The invention relates to a magnetic force sensor (100), having at least one conducting track (111, 211) of soft magnetic material, wherein the at least one conducting track (111, 211) has at least one interruption (130) having a distance (A), wherein the force sensor (100) is arranged on a substrate, in particular on a component (1, 2) to be monitored, and a change in the distance (A) or rather a change in the magnetic flux in the at least one magnetic conducting track (111, 211) is monitored.

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.

An axial force sensor, a robot gripper and a robot are provided. The axial force sensor includes a sensing diaphragm and at least two signal pairs. The sensing diaphragm includes an inner ring, an outer ring and a connecting element connected between the inner ring and the outer ring. The connecting element is more compliant in a direction of the axial force to be detected than in other loading directions. Each signal pair includes a signal emitter and a signal receiver. The signal emitter is coupled to one of the inner ring and the outer ring. The signal receiver is coupled to the other of the inner ring and the outer ring.

A method of manufacture of a force sensor and a force sensor is provided. The force sensor can be used to measure contact forces. The force sensor includes a substrate with an electromagnetic sensing element for contactless sensing of a field formed by a target. The target is included in a flexible piece which receives the force, and can deform by it. The flexible piece is treated so that the force sensor is reliable and has long durability.

A transducer assembly includes a mounting base, a collar, a magnet, and a Hall effect sensor. The collar defines a bore. One of the magnet and the Hall effect sensor is disposed within the bore and attached to the mounting base. The other of the magnet and the Hall effect sensor is attached to the collar. The Hall effect sensor is spaced from the magnet and is configured to detect movement of at least a portion of the collar relative to the mounting base.

Aspects of this disclosure relate to force based on a profile of magnetically sensitive material in a container. One or more sensors can detect the profile of the magnetically sensitive material, where the profile is associated with a force applied to the container. The profile includes magnetically sensitive material concentrated in one or more particular areas within the container. Related systems and methods for force detection are disclosed.

Aspects of this disclosure relate to force based on movement of magnetically sensitive material. In embodiments, first magnetically sensitive material and second magnetically sensitive material can be in an initial position. According to such embodiments, one or more sensors to detect force based on relative position of the first magnetically sensitive material and the second magnetically sensitive in a second position. Related systems and methods for force detection are disclosed.

Disclosed is a force sensor. More particularly, the force sensor includes a first permanent magnet layer; a magnetic tunnel junction disposed on the first permanent magnet layer and configured to have a preset resistance value; and a second permanent magnet layer disposed to be spaced apart from the magnetic tunnel junction, wherein the second permanent magnet layer moves in a direction of the first permanent magnet layer when pressure is applied from outside, the preset resistance value of the magnetic tunnel junction is changed when a magnetic field strength formed between the first permanent magnet layer and the second permanent magnet layer becomes a preset strength or more according to movement of the second permanent magnet layer, and the force sensor senses the pressure based on a change in the preset resistance value.

A sensor for measuring the flex of a pole when exposed to one or more forces, the sensor including at least one magnet and Hall Effect sensor combination, wherein the at least one magnet and Hall effect sensor are at a predetermined position relative to one another when there are no forces acting on the pole and which are movable relative to one another when forces act on the pole, such that a signal proportional to the relative movement is generated by the sensor.