An input cam having a recessed track for establishing a desired dwell time for a plurality of rotatable permanent magnets and an output cam having a recessed track for maximizing the harnessing of linear motion energy and to apply the harnessed energy to a rotary output are provided to improve the efficiency of a magnetic transmission.

A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

An embodiment may provide a sensing device including a stator including a stator tooth and a rotor including a magnet, wherein the stator tooth includes a first stator tooth and a second stator tooth disposed inside the first stator tooth, the first stator tooth includes a plurality of first teeth, the second stator tooth includes a plurality of second teeth, the first tooth overlaps the second tooth in a radial direction from a center of the stator, the stator includes a stator holder and a stator body which is coupled to the stator holder and on which the first stator tooth and the second stator tooth are disposed, the stator body includes a protrusion, and the protrusion is in contact with a lower end of the first stator tooth or a lower end of the second stator tooth.

An embodiment may provide a sensing device including a stator including a stator tooth and a rotor including a magnet, wherein the stator tooth includes a first stator tooth and a second stator tooth disposed inside the first stator tooth, the first stator tooth includes a plurality of first teeth, the second stator tooth includes a plurality of second teeth, the first tooth overlaps the second tooth in a radial direction from a center of the stator, the stator includes a stator holder and a stator body which is coupled to the stator holder and on which the first stator tooth and the second stator tooth are disposed, the stator body includes a protrusion, and the protrusion is in contact with a lower end of the first stator tooth or a lower end of the second stator tooth.

Embodiments of a series elastic actuator (SEA) disclosed herein include an elastic component coupled in series with a motor, wherein the elastic component comprises a pair of springs arranged concentrically around a central shaft of the housing for transmitting force to a mechanical ground of the SEA, and one or more spring support mechanisms arranged within an inner circumference of the springs. Some embodiments of the SEA may also include a spring deflection sensor, which is coupled within a recess formed within the mechanical ground of the SEA and configured to sense the force transmitted to the mechanical ground of the SEA.

Embodiments of a series elastic actuator (SEA) disclosed herein include an elastic component coupled in series with a motor, wherein the elastic component comprises a pair of springs arranged concentrically around a central shaft of the housing for transmitting force to a mechanical ground of the SEA, and one or more spring support mechanisms arranged within an inner circumference of the springs. Some embodiments of the SEA may also include a spring deflection sensor, which is coupled within a recess formed within the mechanical ground of the SEA and configured to sense the force transmitted to the mechanical ground of the SEA.

A driving device includes a driving unit disposed on a fixed member, a supporting member, an output member, an elastic member configured to couple the supporting member and the output member, a first scale, a first sensor configured to detect the rotation angle of the output shaft of the driving unit with the first scale, a second scale, and a second sensor configured to detect the relative displacement between the supporting member and the output member with the second scale. One of the first scale and the first sensor is disposed on the fixed member. The other of the first scale and the first sensor and one of the second scale and the second sensor are disposed on the supporting member. The other of the second scale and the second sensor is disposed on the output member.

A motorized shade comprising a roller tube, a shade material connected to the roller tube, and a motor drive unit operably connected to the roller tube. The motor drive unit comprises a motor adapted to create torque to rotate the roller tube to lower or raise the shade material and a force sensor positioned at a point along the motor drive unit that resists the torque created by the motor resulting in a reaction force that is detected by the force sensor. The motor drive unit further comprises a motor control module adapted to receive sensor readings from the force sensor and control the motor in response to detecting an abrupt change in the reaction force using the received sensor readings to enable shade control via pulling of the shade material as well as or alternatively obstacle detection to minimize damage to the roller shade and users.

A motorized shade comprising a roller tube, a shade material connected to the roller tube, and a motor drive unit operably connected to the roller tube. The motor drive unit comprises a motor adapted to create torque to rotate the roller tube to lower or raise the shade material and a force sensor positioned at a point along the motor drive unit that resists the torque created by the motor resulting in a reaction force that is detected by the force sensor. The motor drive unit further comprises a motor control module adapted to receive sensor readings from the force sensor and control the motor in response to detecting an abrupt change in the reaction force using the received sensor readings to enable shade control via pulling of the shade material as well as or alternatively obstacle detection to minimize damage to the roller shade and users.