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Multicomponent force-torque sensor

  • US 4,704,909 A
  • Filed: 07/22/1985
  • Issued: 11/10/1987
  • Est. Priority Date: 07/22/1985
  • Status: Expired due to Term
First Claim
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1. A multicomponent force-torque sensor comprising:

  • (a) a loadable means to which at least two force-torque components can be applied;

    (b) a plurality of signal-transmission means for transmitting signals;

    (c) a plurality of signal-reflection means for reflecting said transmitted signals;

    (d) a plurality of signal-detection means for detecting said reflected signals;

    (e) at least one medium through which said signals can travel;

    (f) a deformable means which is deformable in response to the application of force-torque components to said loadable means; and

    (g) a means for utilizing said detected signals to determine a plurality of force-torque components;

    wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of a force-torque component to said loadable means results in the alteration of the distance traveled from signal-transmission means to signal-detection means by each of at least two of said signals.

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