A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A torque detector includes a torque cam, a pulse gear, a rotation pulse detection member, and a torque acquisition member. The torque cam is disposed on a rotating shaft and capable of moving in an axial direction of the rotating shaft according to torque input to the rotating shaft. The pulse gear includes a tooth formed on an outer circumferential surface of the torque cam. The rotation pulse detection member disposed so as to oppose the pulse gear is configured to detect the tooth of the pulse gear in rotation and to output a pulse train. The torque acquisition member is configured to acquire the torque from the pulse train. The tooth extends in the axial direction and a tooth thickness becomes continuously larger or smaller from a first side to a second side in the axial direction.

A measurement assembly for determining a torque applied to a shaft including a disk coupled to a motor such that the motor is to drive rotation of the disk about a central axis. The measurement assembly also includes a first ring and second ring coupled to the disk and the shaft, respectively, and a sensor unit to measure a rotational displacement between the first and second rings about the central axis. The measurement assembly further includes one or more deformable members coupled between the disk and the shaft, each including a pair of ends and a body extending therebetween. For each deformable member, one of the ends is coupled to the shaft and the other end is coupled to the disk such that a rotation of the shaft relative to the disk about the central axis is to cause the deformation of the body.

An actuator according to an embodiment includes a first rotating body that is rotatable around an input axis and includes a first groove part extending in a first direction, a second rotating body that is rotatable around an output axis and includes a second protruding part extending in a second direction substantially perpendicular to the first direction, a strain body that includes a first protruding part capable of being engaged with a first groove part through a gap whose direction is vertical to that of the input axis and a second groove part capable of being engaged with a second protruding part through a gap whose direction is vertical to that of the output axis and transmits a rotational torque of the input axis to the output axis, and a detection element that is attached to the strain body.

A device for detecting rotation of a bicycle pedal mechanism and communicating that information to an electronic bicycle wheel motor controller.

A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

An elastic transmission element is used in a strain wave gear. Such strain wave gears are also referred to as Harmonic Drives. The elastic transmission element is also referred to as a flexspline. Outer toothing is formed on the elastic transmission element. Furthermore, at least one strain gauge for measuring a mechanical strain of the elastic transmission element is arranged on the elastic transmission element. The at least one strain gauge is formed as a coating directly on a metallic surface of the elastic transmission element.

A high torque active mechanism for an orthotic and/or prosthetic joint using a primary brake which can be provide by magnetorheological (MR) rotational damper incorporating and an additional friction brake mechanism driven by the braking force generated by the MR damper. This combination of MR damper and friction brake mechanism allows an increase in torque density while keeping the same level of motion control offered by the MR damper alone. The increased torque density achieved by this high torque active mechanism allows to minimize the size of the actuating system, i.e. its diameter and/or breath, while maximizing its braking torque capability. In this regard, the friction brake mechanism is advantageously positioned around the MR damper, such that the dimension of the package is minimized.

Methods and apparatus for pressure-based direct measurement of a final control element variable are disclosed. An example method includes receiving a signal from a first sensor mounted on a shaft of a valve, converting the signal to a pressure, routing the pressure to a second sensor of a controller operatively coupled to a pneumatic actuator, the pneumatic actuator operatively coupled to the shaft, and determining, by the controller, a first torque on the shaft based on the pressure.