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.

A force measurement sensor includes a peripheral portion, a central portion, and a first frame connecting an upper section of the peripheral portion to an upper portion of the central portion. The central portion includes a seat intended to receive the outer ring of a bearing in order to mount a shaft in rotation about an axis Z. The frame includes a core enclosed by two arms which are substantially parallel to one another, such that the upper section of the peripheral portion, the upper portion of the central portion, and the two arms form a parallelogram.

Provided is a multi-axis force sensing device, including a central portion, an outer ring portion, multiple measurement shafts, and multiple sensing groups. The outer ring portion surrounds the central portion. The measurement shafts are respectively connected between the central portion and the outer ring portion. The measurement shafts are equally disposed on an outer side of the central portion. A first surface and a second surface of each measurement shaft are respectively disposed with one of the sensing groups. Each sensing group includes a first strain sensing element and a second strain sensing element. The first strain sensing element is disposed on a first central line of symmetry on the first surface or on a second central line of symmetry on the second surface. The second strain sensing element is disposed on the first surface or the second surface.

A torque sensor element for measuring a torque applied to a joint is described. The torque sensor element includes: an outer frame and an inner frame respectively to connect to first and second sides of a joint; and a compliant arrangement connecting the outer frame to the inner frame. The compliant arrangement includes: first and second members, each extending between and connecting the outer and inner frames, and each being resilient and deformable to permit some relative rotation between the outer and inner frames in response to an applied torque. A connecting structure extends between the first and second members and includes a first portion intermediate the first and second members which is configured responsive to a deformation of the first and/or second member to move by an amount determined by a degree of relative rotation between the outer and inner frames caused by a torque applied to the joint.

Proposed is an elastic body having variable rigidity, wherein the elastic body is used in a series elastic actuator module, connects an input and an output, and has a rigidity that varies according to the applied torque. The elastic body having variable rigidity comprises: a connection part which receives torque from the input side or the output side; and a spring part connected to and receiving torque from the one selected from among the input side and the output side which is different from the connection part, wherein the spring part is formed integrally with the connection part and has a rigidity that varies as the connection part and the spring part come into contact with each other due to deformation caused by the applied torque.

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.

Provided is a method for setting bottom-touching-determination standard capable of setting a bottom-touching-determination standard based on parameters with high reliability. The method for setting bottom-touching-determination standard includes a screwing step of screwing a measurement screw (11) into a measurement screw hole (13a), a parameter acquisition step of acquiring parameters in the screwing step, a bottom-touching-determination step of determining the presence or absence of bottom-touching on the basis of an axial force of the measurement screw, and a determination standard setting step of collating the determination result in the bottom-touching-determination step and the parameters to set the bottom-touching-determination standard.

A connector (130) is arranged between an inner support (110) and an outer support (120), and connects the inner support (110) and the outer support (120). A deformable body (140) has one end connected to the inner support (110) at a first position with respect to the direction of rotation about a Z-axis and the other end connected to the outer support (120) at a second position different from the first position, and is bent to be deformed in a radial direction by applying compressive force or tensile force between the first position and the second position. A detection body (150) includes a capacitative element including respective electrodes disposed to face the deformable body (140) and the outer support (120), and detects an elastic deformation generated in the deformable body (140) on the basis of the characteristic value of the capacitative element.

Provided is a method for setting bottom-touching-determination standard capable of setting a bottom-touching-determination standard based on parameters with high reliability. The method for setting bottom-touching-determination standard includes a screwing step of screwing a measurement screw (11) into a measurement screw hole (13a), a parameter acquisition step of acquiring parameters in the screwing step, a bottom-touching-determination step of determining the presence or absence of bottom-touching on the basis of an axial force of the measurement screw, and a determination standard setting step of collating the determination result in the bottom-touching-determination step and the parameters to set the bottom-touching-determination standard.