A mechanical-stress sensor comprises a piezoelectric transducer (10), which is able to generate an electrical signal representing a shear stress. The piezoelectric transducer (10) comprises: a layer of piezoelectric material (11), which extends in a longitudinal direction and has a polarization axis (A), which extends in a direction transverse to the longitudinal direction; and at least one first electrode (E1) and one second electrode (E2), each having a plurality of fingers (F1, F2), which extend at a first major face and a second major face, respectively, of the layer of piezoelectric material (11). The piezoelectric transducer (10) comprises at least one third electrode (E3) and one fourth electrode (E4), each having a plurality of fingers (F3, F4), which extend at the first major face and second h major face, respectively, of the layer of piezoelectric material (11), the fingers (F3) of the third electrode (E3) being interdigitated or alternating with the fingers (F1) of the first electrode (E1), and the fingers (F4) of the fourth electrode (E4) being interdigitated or alternating with the fingers (F2) of the second electrode (E2).

A mechanical-stress sensor comprises a piezoelectric transducer (10), which is able to generate an electrical signal representing a shear stress. The piezoelectric transducer (10) comprises: a layer of piezoelectric material (11), which extends in a longitudinal direction and has a polarization axis (A), which extends in a direction transverse to the longitudinal direction; and at least one first electrode (E1) and one second electrode (E2), each having a plurality of fingers (F1, F2), which extend at a first major face and a second major face, respectively, of the layer of piezoelectric material (11). The piezoelectric transducer (10) comprises at least one third electrode (E3) and one fourth electrode (E4), each having a plurality of fingers (F3, F4), which extend at the first major face and second h major face, respectively, of the layer of piezoelectric material (11), the fingers (F3) of the third electrode (E3) being interdigitated or alternating with the fingers (F1) of the first electrode (E1), and the fingers (F4) of the fourth electrode (E4) being interdigitated or alternating with the fingers (F2) of the second electrode (E2).

A charge amplifier that converts a charge signal to a voltage signal includes: a first conductive member through which the charge signal propagates; a second conductive member that is provided along at least a portion of the first conductive member; an insulating member provided between the first conductive member and the second conductive member; a potential controlling voltage signal output circuit that is connected to the second conductive member, and is configured to supply a potential controlling voltage signal to the second conductive member; and an integrating circuit that includes an input terminal and an output terminal, the input terminal being connected to the first conductive member, and is configured to output the voltage signal from the output terminal.

A charge amplifier that converts a charge signal to a voltage signal includes: a first conductive member through which the charge signal propagates; a second conductive member that is provided along at least a portion of the first conductive member; an insulating member provided between the first conductive member and the second conductive member; a potential controlling voltage signal output circuit that is connected to the second conductive member, and is configured to supply a potential controlling voltage signal to the second conductive member; and an integrating circuit that includes an input terminal and an output terminal, the input terminal being connected to the first conductive member, and is configured to output the voltage signal from the output terminal.

A resonant sensor includes a proof body that can be subjected to a torque of forces produced by an external mechanical structure, the body comprising at least: a first interface and a second interface that can each come into contact with the structure; at least two sensitive elements each arranged between these two interfaces; a sensitive element comprising a plate embedded in a frame secured mechanically to the interfaces, the frame being fixed to the interfaces by two opposite corners, the other two corners being free, a local increase in weight being produced in each corner; each plate being able to resonate under the effect of local mechanical excitations produced at particular points by excitation transducers bearing the plate at several resonant frequencies, sensors picking up the resonant signals produced at the particular points, measurement means measuring the resonant frequency shifts of signals which are linear combinations of the resonant signals picked up, the shifts being a function of mechanical stresses induced by the forces and transmitted to the plate by the frame, the components of the torque of forces being determined from the resonant frequency shifts measured on the plates of the sensitive elements.

A resonant sensor includes a proof body that can be subjected to a torque of forces produced by an external mechanical structure, the body comprising at least: a first interface and a second interface that can each come into contact with the structure; at least two sensitive elements each arranged between these two interfaces; a sensitive element comprising a plate embedded in a frame secured mechanically to the interfaces, the frame being fixed to the interfaces by two opposite corners, the other two corners being free, a local increase in weight being produced in each corner; each plate being able to resonate under the effect of local mechanical excitations produced at particular points by excitation transducers bearing the plate at several resonant frequencies, sensors picking up the resonant signals produced at the particular points, measurement means measuring the resonant frequency shifts of signals which are linear combinations of the resonant signals picked up, the shifts being a function of mechanical stresses induced by the forces and transmitted to the plate by the frame, the components of the torque of forces being determined from the resonant frequency shifts measured on the plates of the sensitive elements.

A force sensing system for determining if a user input has occurred, the system comprising: an input channel, to receive an input from at least one force sensor; an activity detection stage, to monitor an activity level of the input from the at least one force sensor and, responsive to an activity level which may be indicative of a user input being reached, to generate an indication that an activity has occurred at the force sensor; and an event detection stage to receive said indication, and to determine if a user input has occurred based on the received input from the at least one force sensor.

A device for providing pipelaying guidance is disclosed. The device may determine an original shape of a pipeline that comprises a plurality of pipeline segments. The device may obtain current location data concerning a respective position of each pipeline segment of the plurality of pipeline segments, and may determine a current shape of the pipeline based on the current location data. The device may calculate, based on the original shape of the pipeline and the current shape of the pipeline, stress information concerning the pipeline, and may perform one or more actions based on the stress information.

A device for providing pipelaying guidance is disclosed. The device may determine an original shape of a pipeline that comprises a plurality of pipeline segments. The device may obtain current location data concerning a respective position of each pipeline segment of the plurality of pipeline segments, and may determine a current shape of the pipeline based on the current location data. The device may calculate, based on the original shape of the pipeline and the current shape of the pipeline, stress information concerning the pipeline, and may perform one or more actions based on the stress information.

A flex-rigid sensor apparatus for providing sensor data from sensors disposed on an end-effector/gripper to the control circuit of an arm-type robotic system. The apparatus includes piezo-type pressure sensors sandwiched between lower and upper PCB stack-up structures respectively fabricated using rigid PCB (e.g., FR-4) and flexible PCB (e.g., polyimide) manufacturing processes. Additional (e.g., temperature and proximity) sensors are mounted on the upper/flexible stack-up structure. A spacer structure is disposed between the two stack-up structures and includes an insulating material layer defining openings that accommodate the pressure sensors. Copper film layers are configured to provide Faraday cages around each pressure sensor. The pressure sensors, additional sensors and Faraday cages are connected to sensor data processing and control circuitry (e.g., analog-to-digital converter circuits) by way of signal traces formed in the lower and upper stack-up structures and in the spacer structure. An encapsulation layer is formed on the upper PCB stack-up structure.