A multi-degree of freedom (DOF) force and torque sensor is provided. The multi-DOF force and torque sensor includes a first rigid plate, a second rigid plate, multiple elastic elements connected between the first and second rigid plates, and multiple signal pairs connected between the first and second rigid plates. The signal pairs are used for detecting relative displacements of the first and second rigid plates in multiple directions.

A multi-degree of freedom (DOF) force and torque sensor is provided. The multi-DOF force and torque sensor includes a first rigid plate, a second rigid plate, multiple elastic elements connected between the first and second rigid plates, and multiple signal pairs connected between the first and second rigid plates. The signal pairs are used for detecting relative displacements of the first and second rigid plates in multiple directions.

Disclosed are structures of a torque sensor and of an angle sensor for a vehicular steering angle sensing devise. An embodiment of the present invention provides a torque sensor module comprising: a rotor holder, which has a hollow interior; a yoke member coupled along the outer peripheral surface of the rotor holder; and a first magnet coupled so as to contact the outer peripheral surface of the yoke member, wherein the torque sensor module comprises a supporting/coupling portion, which extends from the upper surface of the rotor holder, and which contacts the upper surfaces of the yoke member and of the first magnet, respectively.

The purpose of the present invention is to provide a control device for a dynamometer system, with which, by a simple method, an unloaded state can be reproduced highly accurately when a test piece is started. A dynamo control device 6 is provided with: an integral control input computation unit 611 for computing the integral value of axle torque deviation, and multiplying the sum thereof and a correction value by an integral gain to compute an integral control input; a correction value computation unit 612 for multiplying an inertia compensation quantity Jcmp by the dynamo rotation frequency to compute a correction value; a non-integral control input computation unit 613 for designating, as a non-integral control input, the output of a prescribed transmission function Ge0(s) having axle torque deviation as input; and a totaling unit 614 for totaling the integral control input and the non-integral control input in order to generate a torque current command signal to the dynamometer. The transmission function Ge0(s) of the non-integral control input computation unit 613 is derived by separating the integrator from a transmission function Ge(s) having an axle torque control function, in such a way as to satisfy the relational equation (Ge(s)=Ki/s+Ge0(s)).

The purpose of the present invention is to provide a control device for a dynamometer system, with which, by a simple method, an unloaded state can be reproduced highly accurately when a test piece is started. A dynamo control device 6 is provided with: an integral control input computation unit 611 for computing the integral value of axle torque deviation, and multiplying the sum thereof and a correction value by an integral gain to compute an integral control input; a correction value computation unit 612 for multiplying an inertia compensation quantity Jcmp by the dynamo rotation frequency to compute a correction value; a non-integral control input computation unit 613 for designating, as a non-integral control input, the output of a prescribed transmission function Ge0(s) having axle torque deviation as input; and a totaling unit 614 for totaling the integral control input and the non-integral control input in order to generate a torque current command signal to the dynamometer. The transmission function Ge0(s) of the non-integral control input computation unit 613 is derived by separating the integrator from a transmission function Ge(s) having an axle torque control function, in such a way as to satisfy the relational equation (Ge(s)=Ki/s+Ge0(s)).

The present invention may provide a torque sensor comprising, a rotor, a stator disposed outside the rotor; a sensor assembly configured to measure a magnetic field generated between the rotor and the stator; and a housing, the rotor and the stator are disposed outside the housing, the sensor assembly is disposed inside the housing, wherein the housing includes a protrusion which faces the stator, wherein the stator includes a groove, wherein the protrusion is disposed in the groove.

The present invention may provide a torque sensor comprising, a rotor, a stator disposed outside the rotor; a sensor assembly configured to measure a magnetic field generated between the rotor and the stator; and a housing, the rotor and the stator are disposed outside the housing, the sensor assembly is disposed inside the housing, wherein the housing includes a protrusion which faces the stator, wherein the stator includes a groove, wherein the protrusion is disposed in the groove.

The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer. The rotary driver comprises a motor, a speed reducer located between the motor and a load to reduce the rotary speed of a rotary shaft at the side of the motor, to thereby transmit the reduced rotary speed to a rotary shaft at the side of the load, a first encoder for detecting a rotation of the rotary shaft at the side of the motor, a second encoder for detecting a rotation of the rotary shaft at the side of the load, a section for detecting any difference between a first detected value that is obtained by dividing an output of the first encoder by a rate for reducing the speed by the speed reducer and a second detected value that is obtained from an output of the second encoder, and a section for detecting tooth-skipping that detects tooth-skipping of the speed reducer based on the difference.

The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer. The rotary driver comprises a motor, a speed reducer located between the motor and a load to reduce the rotary speed of a rotary shaft at the side of the motor, to thereby transmit the reduced rotary speed to a rotary shaft at the side of the load, a first encoder for detecting a rotation of the rotary shaft at the side of the motor, a second encoder for detecting a rotation of the rotary shaft at the side of the load, a section for detecting any difference between a first detected value that is obtained by dividing an output of the first encoder by a rate for reducing the speed by the speed reducer and a second detected value that is obtained from an output of the second encoder, and a section for detecting tooth-skipping that detects tooth-skipping of the speed reducer based on the difference.

A torque transmission apparatus incorporates a differential gear system and a stationary sensor connected to the differential gear system for measuring output torque. The stationary sensor may be connected to a measurement output element of the differential gear system by a torsionally compliant measurement member, wherein the stationary sensor measures torsional deformation of the measurement member. The torsional deformation may be measured directly, or it may be measured following amplification by a gear train. A rotary position sensor may be used as the stationary sensor. Alternatively, the stationary sensor may be connected to the measurement output element of the differential gear system by way of a rigid measurement member, wherein the stationary sensor measures force applied by the measurement member. In this alternative, a force sensor may be used as the stationary sensor.