CPC G01L 1/246 (2013.01) [A61B 34/71 (2016.02); G01L 5/0033 (2013.01); G01L 5/105 (2013.01); A61B 2090/064 (2016.02)] | 14 Claims |
1. A force sensor for a tendon-actuated mechanism, the force sensor comprising: a body having a through hole for passage of a tendon of the tendon-actuated mechanism therethrough, the body configured to be connected to a part of the tendon-actuated mechanism through which the tendon passes; and a sensor provided on the body, wherein the body is compressible longitudinally in response to a tension force axially along the tendon resulting from pulling of the tendon; wherein the sensor is configured to obtain a compression force longitudinally along the body resulting from compression of the body longitudinally; wherein the compression force is comparable to the tension force, such that the tension force axially along the tendon is measured based on the compression force longitudinally along the body.
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