A semiconductor Hall plate-based sensor can provide information about package stress and can be substantially immune to the influence of magnetic fields. In an example, the sensor can include a Hall plate and an excitation circuit. The excitation circuit can provide signals to respective node pairs of the Hall plate. A measurement circuit can receive information about a first electric signal at a first pair of nodes in response to a first portion of the excitation signal, and can receive information about a second electric signal at a second pair of nodes in response to a second portion of the excitation signal. The first and second electric signals can indicate a charge carrier mobility characteristic of the semiconductor, which can be used to provide an indication of physical stress on the sensor.

A semiconductor Hall plate-based sensor can provide information about package stress and can be substantially immune to the influence of magnetic fields. In an example, the sensor can include a Hall plate and an excitation circuit. The excitation circuit can provide signals to respective node pairs of the Hall plate. A measurement circuit can receive information about a first electric signal at a first pair of nodes in response to a first portion of the excitation signal, and can receive information about a second electric signal at a second pair of nodes in response to a second portion of the excitation signal. The first and second electric signals can indicate a charge carrier mobility characteristic of the semiconductor, which can be used to provide an indication of physical stress on the sensor.

There is disclosed a stretchable sensor system for measuring deformation of an elastomer, the stretchable sensor system comprising at least one magnet; at least one magnetic sensor, each having a sensor output; and a controller, wherein the at least one magnet is/are fixed to the elastomer at a respective first location or plurality of locations and the at least one magnetic sensor is/are fixed to the elastomer at a respective second location or plurality of locations, such that the or each magnetic sensor is located in magnetic proximity to a respective said magnet, and wherein the controller is operable: to receive sensor data from the sensor output of the or each magnetic sensor; to process the received sensor data in dependence on the first and second locations or plurality of locations to determine a positional relationship between the or each magnet and the respective magnetic sensor; and to compute a deformation of the elastomer in dependence on the determined positional relationship between the or each magnet and the respective magnetic sensor. The present invention has particular application to soft robotics and closed loop control thereof.

An induction pressing plate type real-time monitoring apparatus, including a fixing portion, an abutting portion, and an inductor. The fixing portion has a hole for fixing and connecting a fastener to an upper or lower platform of a forming device. The abutting portion is connected to the fixing portion, and the abutting portion in at least part of a pressure surface region is configured to press a tested piece to be induced. The inductor is disposed at the abutting portion, and has an induction unit for inducing actual information transmitted to the abutting portion by the direct contact of the tested piece and converting the actual information into measurable data, an output unit for outputting the data, and a power supply unit for providing power to the induction unit and the output unit.

Device with isotropic planar compliance comprising a floating body (2) positioned between a first (3) and second frame (4), said floating body having an extended portion (21) protruding through the first frame, at least a row of caged balls (5) supporting the floating body, at least one elastic element (6) positioned over the extended portion of the floating body, compressed between and connecting the floating body and the first frame. Said caged balls allow the at least one elastic element to laterally deform, so that their axis bends, while the ends of said at least one elastic element lay on two parallel planes, which remain at constant distance while sliding one with respect to the other. The device comprises also at least one displacement sensor (10), for measuring the displacement of the floating body with respect to the first or second frame.

A force estimation system for calculating force information regarding forces applied to one or more positions of a flexible tubular portion having flexibility through an arithmetic operation, the force estimation system comprising: a processor configured to input the deformation state and the mechanical property at a plurality of longitudinal positions of the flexible tubular portion, and calculates the force information of the force applied to the individual positions of the flexible tubular portion based on the deformed state and the mechanical property.

A force estimation system for calculating force information regarding forces applied to one or more positions of a flexible tubular portion having flexibility through an arithmetic operation, the force estimation system comprising: a processor configured to input the deformation state and the mechanical property at a plurality of longitudinal positions of the flexible tubular portion, and calculates the force information of the force applied to the individual positions of the flexible tubular portion based on the deformed state and the mechanical property.

A variety of applications can include apparatus and/or methods that provide an axial force transducer. Two coils wound coaxially with respect to each other can be used with a magnet to determine a distance traveled based on application of an axial force to an instrument component. The two coils and magnet can be configured in a number of ways with respect to the instrument component. In various embodiments, the difference between an inductance associated with one of the two coils along with its relation to the magnet and an inductance associated with the other one of the two coils along with its relation to the magnet can be used to determine the axial force on the component of the instrument associated with the distance travelled. Additional apparatus, systems, and methods are disclosed.

Deformable sensors and methods for magnetically modifying membrane stiffness are provided. A deformable sensor may include a membrane coupled to a housing to form a sensor cavity. The deformable sensor may further include a first magnet located on an inner surface of the membrane in the sensor cavity. The deformable sensor may additionally include a magnetic object located at a base within the sensor cavity. The magnetic object may be configured to modifiably repel the first magnet and modify stiffness of the deformable sensor based upon the modified repulsion.

Deformable sensors and methods for magnetically modifying membrane stiffness are provided. A deformable sensor may include a membrane coupled to a housing to form a sensor cavity. The deformable sensor may further include a first magnet located on an inner surface of the membrane in the sensor cavity. The deformable sensor may additionally include a magnetic object located at a base within the sensor cavity. The magnetic object may be configured to modifiably repel the first magnet and modify stiffness of the deformable sensor based upon the modified repulsion.