Retroreflective multi-axis force torque sensor
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United States of America Patent
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Oct 19, 2021
Grant Date -
Aug 1, 2019
app pub date -
Apr 12, 2019
filing date -
Jun 20, 2016
priority date (Note) -
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Abstract
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.
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