US 11,906,376 B2
Force sensor for tendon-actuated mechanisms
Wenjie Lai, Singapore (SG); Lin Cao, Singapore (SG); and Soo Jay Louis Phee, Singapore (SG)
Assigned to Nanyang Technological University, Singapore (SG)
Appl. No. 17/054,744
Filed by Nanyang Technological University, Singapore (SG)
PCT Filed May 22, 2019, PCT No. PCT/SG2019/050271
§ 371(c)(1), (2) Date Nov. 11, 2020,
PCT Pub. No. WO2019/226119, PCT Pub. Date Nov. 28, 2019.
Claims priority of application No. 10201804332S (SG), filed on May 22, 2018.
Prior Publication US 2021/0223123 A1, Jul. 22, 2021
Int. Cl. G01L 1/24 (2006.01); G01L 5/00 (2006.01); G01L 5/105 (2020.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01)
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
OG exemplary drawing
 
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.