Driving device and detecting device

A method of controlling a driving device, the driving device comprising a driving unit disposed on a fixed member, a supporting member, an output member, an elastic member, and a control unit configured to control the driving unit, the method comprising:

• inputting a first signal outputted from a first sensor to the control unit, the first sensor being used to detect a rotation angle of an output shaft of the driving unit;
• inputting a second signal outputted from a second sensor to the control unit, the second sensor being used to detect a relative displacement between the supporting member and the output member;
• and
• calculating, by the control unit, a rotation angle of the output member with respect to the fixed member in accordance with the first signal and the second signal,
• wherein the elastic member connects the output member and the supporting member,
• wherein one of a first scale and the first sensor used to detect a rotation angle of the output shaft of the driving unit is disposed on the fixed member,
• wherein an other of the first scale and the first sensor and one of a second scale and the second sensor used to detect a relative displacement between the supporting member and the output member are disposed on the supporting member, and
• wherein an other of the second scale and the second sensor is disposed on the output member.

A detecting device comprising:

• a fixed member;
• a supporting member;
• an output member;
• an elastic member configured to connect the supporting member and the output member;
• a first scale;
• a first sensor configured to detect a rotation angle of an output shaft of a driving unit with the first scale;
• a second scale;
• and
• a second sensor configured to detect a relative displacement between the supporting member and the output member with the second scale,
• wherein one of the first scale and the first sensor is disposed on the fixed member,
• wherein an other of the first scale and the first sensor and one of the second scale and the second sensor are disposed on the supporting member, and
• wherein an other of the second scale and the second sensor is disposed on the output member.

A driving device comprising:

• a driving unit;
• a supporting member;
• an output member;
• an elastic member configured to connect the supporting member and the output member;
• a first sensor configured to detect a rotation angle of an output shaft of the driving unit;
• and
• a second sensor configured to detect a relative displacement between the supporting member and the output member,
• wherein the first sensor and the second sensor are disposed on the supporting member.

A detecting device comprising:

• a supporting member;
• an output member;
• an elastic member configured to connect the supporting member and the output member;
• a first sensor configured to detect a rotation angle of an output shaft of a driving unit, and
• a second sensor configured to detect a relative displacement between the supporting member and the output member,
• wherein the first sensor and the second sensor are disposed on the supporting member.