An electronic measurement unit for a polymorphous device, comprising a number of lateral structures, each lateral structure including: a support structure; at least one sensor constrained to the support structure and generating an electrical signal indicative of a deformation of the support structure; and a coupling structure that constrains a corresponding external covering element to the support structure in a releasable manner, so that when the external covering element is constrained to the support structure and an external force acts on the external covering element, the electrical signal is indicative of the external force.

A relative rotational angular displacement detection device includes a pair of rotatable members rotatable relative to each other in a circumferential direction. A permanent magnet is attached to one of the rotatable members and includes magnetic poles magnetized in an axial direction of the axis of rotation and arranged to alternate in polarity in the circumferential direction. A magnetic flux guiding ring includes an annular ring body attached to the other of the rotatable members and is arranged coaxially with the axis of rotation, and a plurality of protruding portions each having a circumferential width smaller than the circumferential width of the magnetic pole. A magnetic detection unit is configured to detect magnetic fluxes of the ring body of the magnetic flux guiding ring. The magnetic flux guiding ring is magnetized depending on the positions of the protruding portions relative to the positions of the magnetic poles.

An elastic torque sensor utilizing a torsion spring and components to measure the movement of the spring output side and input side. The torque sensor is in communication with a programmable controller. The components detecting movement or distortion of the either side of the torsion spring are not positioned within the load path experienced by the torsion spring. This configuration allows the detected position of the spring input and output sides not to be distorted by hysteresis. The components comprise a sensor disk that is attached to either the spring input or output side. The sensor disk is not within the spring load path. The sensor disk rotates with the torsion spring. The sensor disk is mark so that the degree of rotation can be detected by a stationary sensor also not in the load path. The sensor disk can send a signal to a programmable controller.

A hydraulic torquemeter comprising a rod which is translatable in a longitudinal direction under the effect of axial thrust which is representative of the torque to be measured, and a hydraulic circuit in which a fluid flows. It also comprises a manometric capsule comprising a pressure chamber which is supplied with fluid by said hydraulic circuit, a sealed flexible membrane which is in contact with the fluid in the pressure chamber, extends in a plane which is substantially perpendicular to said rod, and is rigidly connected to one end of the rod in such a way that a longitudinal movement of the rod deforms the membrane, a drain port for the fluid in said pressure chamber, and a valve designed to adjust the pressure of the fluid in said pressure chamber according to the deformation of said membrane.

[Object] To provide a torque sensor and power control actuator that are reduced in size and are capable of detecting torque with high accuracy. [Solution] The torque sensor includes: a first rotating body capable of making axial rotation about an input axis; a second rotating body capable of making axial rotation about an output axis; a strain generation part provided between the first rotating body and the second rotating body, having a first surface facing one side in a first direction parallel to the input axis and a second surface facing the other side in the first direction, and configured to transfer rotation torque while generating a strain between the first rotating body and the second rotating body; and a plurality of strain detection parts provided on the first surface and the second surface, respectively, to detect a strain of the strain generation part.

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 strain sensor fixing device includes a fixing member including a first side, a second side parallel to the first side, and a surface provided between the first side and the second side and including an opening part, the first side being brought into contact with the first structure, the second side being brought into contact with an end part of the flexure body constituting the strain sensor provided on the first structure, a screw inserted into the opening part and screwed into the first structure, and a rotation stopping part bringing the fixing member into line contact or point contact with the other part to prevent rotation of the fixing member.

A strain sensor fixing device includes a fixing member including a first side, a second side parallel to the first side, and a surface provided between the first side and the second side and including an opening part, the first side being brought into contact with the first structure, the second side being brought into contact with an end part of the flexure body constituting the strain sensor provided on the first structure, a screw inserted into the opening part and screwed into the first structure, and a rotation stopping part bringing the fixing member into line contact or point contact with the other part to prevent rotation of the fixing member.

A device for measuring equivalent shear stress between a shield screw conveyor and modified muck includes a spiral shell, a spiral device, a data calculation module and measurement components, the measurement components include a torque measurement component configured to measure spiral driving torque between the spiral device and the modified muck, an angle measurement component configured to measure a conveying angle of the modified muck, a parameter measurement component configured to measure structural parameters of the spiral device, and a density measurement component configured to measure an average density of the modified muck. The torque measurement component, the angle measurement component, the parameter measurement component and the density measurement component are respectively connected to the data calculation module, and the spiral device is installed in the spiral shell.

A torque sensor supporting device capable of preventing bending moment other than torque from occurring to a torque sensor and improving the detection accuracy of the torque sensor. A first supporting body is provided to a base serving as a first mounting section of a robot. A second supporting body is coupled to a second structure of a torque sensor including a first structure provided to the base, the second structure coupled to a first arm serving as a second mounting section, third structures provided between the first structure and the second structure, and at least two sensor sections provided between the first structure and the second structure. Rotating bodies are provided between the first supporting body and the second supporting body.