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Force and torque converter

  • US 5,222,400 A
  • Filed: 10/25/1989
  • Issued: 06/29/1993
  • Est. Priority Date: 12/18/1985
  • Status: Expired due to Term
First Claim
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1. An apparatus for providing output signals for use as command signals with respect to X, Y, and Z mutually orthogonal axes, the signals being representative of a translational applied force and an applied torque, the apparatus comprising a base, a body to which the forces and torque are applied, resilient connecting means attached to the body and mounting the body for receiving force in any direction and toque about any axis and for urging the body to be displaced relative to the base, a plurality of sensor means capable of providing a set of signals representative of the applied translational force and the applied torque, wherein the base has a stem for mounting the apparatus, and wherein each of the sensor means is mounted and uniformly disposed about an axis of detection, the locus of sensor positions is on a sphere, each sensor means comprising a light emitting means, a light detecting means, and a light interfering means, wherein the light reaching the light detecting means of at least one or more of the sensor means is selectively varied by the light interfering means in response to movement of the body.

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