A force sensor includes a support member, a force receiving member to be displaced with respect to the support member by an action of an external force, and a strain generating member having a scale holding portion and an elastic connection portion connecting the support member and the force receiving member. The force sensor further includes scales each serving as a detection target object and disposed on the elastic connection portion and the scale holding portion, and displacement detection elements mounted on a sensor substrate of the support member to face the scales in a one-to-one correspondence to detect movements of the scales. The force receiving member includes metal, and the strain generating member includes resin.

An optical sensor includes a first light source to emit light, a first photodetector to receive light and generate a signal representing a result of receiving the light, a cover made of an elastic material deformable in response to an external force and covering the first light source and the first photodetector, the cover including a reflective portion that reflects light and a transmissive portion that transmits light, a force detector to detect a force corresponding to deformation of the cover based on a signal from the first photodetector, the signal representing a result of receiving light emitted by the first light source, an optical assembly outside the covering component, and a proximity detector to detect the object being in proximity by using the optical assembly and one of the first light source and the first photodetector.

A tactile sensor includes a first layer formed of flexible material having an outer contact surface and an opposed inner interface surface, a second layer formed of substantially transparent flexible material arranged in substantially continuous contact with the flexible first layer at the interface surface, a camera, and reflective material. The first and second layers are configured so that pressure exerted by an object or objects contacting the outer contact surface causes at least localized distortion of the interface surface. The camera is arranged to capture an image of the interface surface through the flexible second layer. The reflective material is configured so that the appearance of at least part of the reflective material changes as the viewing angle changes and the reflective material is located between the layers at the interface surface.

A tactile sensor includes a first layer formed of flexible material having an outer contact surface and an opposed inner interface surface, a second layer formed of substantially transparent flexible material arranged in substantially continuous contact with the flexible first layer at the interface surface, a camera, and reflective material. The first and second layers are configured so that pressure exerted by an object or objects contacting the outer contact surface causes at least localized distortion of the interface surface. The camera is arranged to capture an image of the interface surface through the flexible second layer. The reflective material is configured so that the appearance of at least part of the reflective material changes as the viewing angle changes and the reflective material is located between the layers at the interface surface.

The invention relates to a force sensor 100 that detects a force acting from the outside, and provides the force sensor 100 whose reduction in size and cost can be achieved. The force sensor 100 includes a support member 20, a force receiving member 4 that is displaced with respect to the support member 20 by the action of an external force, an elastic connection member 5 connecting the support member 20 and the force receiving member 4, scales 8a to 8d, which are detection target object bodies, disposed at the elastic connection member 5, displacement detection elements 9a to 9d that are mounted on the sensor substrate 7 composing the support member 20 so as to face the scales 8a to 8d in a one-to-one manner, and that detect movements of the scales 8a to 8d.

The invention relates to a force sensor 100 that detects a force acting from the outside, and provides the force sensor 100 whose reduction in size and cost can be achieved. The force sensor 100 includes a support member 20, a force receiving member 4 that is displaced with respect to the support member 20 by the action of an external force, an elastic connection member 5 connecting the support member 20 and the force receiving member 4, scales 8a to 8d, which are detection target object bodies, disposed at the elastic connection member 5, displacement detection elements 9a to 9d that are mounted on the sensor substrate 7 composing the support member 20 so as to face the scales 8a to 8d in a one-to-one manner, and that detect movements of the scales 8a to 8d.

Apparatus for measuring forces and/or moments on a load-carrying element comprises plural optical sensors mounted to the load-carrying element. Each of the optical sensors includes a light source, a photosensor and an opaque mask positioned in a light path between the light source and the photosensor. The photosensor comprises first and second light sensitive elements separated by a boundary. The mask has a window that is movable relative to the photosensor and is located such that light from the light source that passes through the window forms an illuminated region on the photosensor. The illuminated region includes at least part of the boundary and parts of each of the first and second light sensitive elements. Each of the optical sensors has a first part which includes the light source and the photosensor that is coupled to the load-carrying element at a first location and a second part that includes the mask that is attached to the load-carrying element at a second location spaced apart from the first location. Boundaries between the first and second light sensitive elements in different ones of the optical sensors are oriented in different directions relative to an axis of the load-carrying element. The apparatus may be applied to monitor forces and moments in six degrees of freedom.

Apparatus for measuring forces and/or moments on a load-carrying element comprises plural optical sensors mounted to the load-carrying element. Each of the optical sensors includes a light source, a photosensor and an opaque mask positioned in a light path between the light source and the photosensor. The photosensor comprises first and second light sensitive elements separated by a boundary. The mask has a window that is movable relative to the photosensor and is located such that light from the light source that passes through the window forms an illuminated region on the photosensor. The illuminated region includes at least part of the boundary and parts of each of the first and second light sensitive elements. Each of the optical sensors has a first part which includes the light source and the photosensor that is coupled to the load-carrying element at a first location and a second part that includes the mask that is attached to the load-carrying element at a second location spaced apart from the first location. Boundaries between the first and second light sensitive elements in different ones of the optical sensors are oriented in different directions relative to an axis of the load-carrying element. The apparatus may be applied to monitor forces and moments in six degrees of freedom.

The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.