The invention relates to a method for measuring the electrode force on welding tongs. The welding tongs have a first electrode arm with a first electrode and a second electrode arm with a second electrode, said second electrode arm lying opposite the first electrode arm. At least one workpiece is clamped between the electrodes during the welding process. The aim of the invention is to provide a method for measuring the electrode force, said method providing an improved signal quality. The method has the following steps: a) measuring a first force acting on the first electrode, b) measuring a second force acting on the second electrode, and c) adding the measured first force and the measured second force, wherein an electrode force signal transmitted from the welding point to the electrodes is amplified, and an interference force signal introduced into the at least one workpiece from the outside and transmitted to the electrodes is eliminated.

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.

Systems and methods for estimating deformation and field of contact forces are described. A method includes generating a reference configuration including reference points in space. The reference configuration corresponds to an initial shape of a membrane prior to contact with the manipuland. The method further includes receiving raw data from a TOF device. The raw data includes points in space measured by the TOF device and indicating deformation of the membrane due to contact with the manipuland. The method further includes determining deformation of the membrane that best approximates a current configuration in a least squares sense while satisfying a discrete physical model enforced as a linear constraint that corresponds to a linearized physical model of the deformation that is discretized with an FEM, linearizing the relationship, and estimating deformation and field of contact forces by solving a least squares formulation with physical constraints cast as a sparse quadratic program.

An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.

An example device includes a rigid plate, an inner element, a plurality of connecting flexural elements coupled between the inner element and rigid plate, and a hardstop that extends through the inner element and couples to the rigid plate. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The plurality of connecting flexural elements allow the inner element to move relative to rigid plate. The hardstop contacts the inner element when a load applied on the device exceeds a threshold load.

A force detector includes a first substrate, a second substrate, a circuit board provided between the first substrate and the second substrate, and an element mounted on the circuit board and outputting a signal in response to an external force, wherein a hole is formed in the circuit board at a location where the element is placed, and a first convex part inserted into the hole and protruding toward the element is provided on the first substrate. Further, the element is placed within a periphery of the first convex part as seen from a direction perpendicular to the first substrate.

An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.

A force detection apparatus includes a first member, a second member placed to be opposed to the first member, a sensor device placed between the first member and the second member and including a force detection element having at a piezoelectric element that outputs a signal according to an external force, and a pressurization bolt provided in an outer periphery of the sensor device in a plan view as seen from a direction in which the first member and the second member overlap and pressurizing the sensor device, wherein the first member has a groove which is between the sensor device and the pressurization bolt in the plan view.

A drive unit for providing drive from a robot arm to an instrument, the drive unit comprising: a plurality of drive elements for engaging corresponding elements of the instrument, each drive element being movable along a drive axis and the drive axes of each of the drive elements being substantially parallel to each other; and a load cell structure comprising a plurality of deflectable bodies coupled to the drive elements for sensing load on the drive elements parallel to their drive axes, and a frame comprising an integral member supporting the deflectable bodies in such a way as to isolate each deflectable body from load applied to the or each other deflectable body.