Optical force sensor device with reflective displacement measurement

A sensor device comprising:

• a casing having an exterior portion with a light intake hole provided through an outer upper surface to an inside of the exterior portion;
• at least one force acting portion including a protrusion exposed above the outer upper surface from an opening for each force acting portion provided through the outer upper surface to the inside of the exterior portion, each force acting portion being attached to the inside of the exterior portion via a flexible body;
• a reflection space provided within the inside of the exterior portion, the reflection space including at least two surfaces with a first mirror provided on an inner bottom surface of the exterior portion and at least one second mirror provided on at least one of a surface of each force acting portion or a surface of each flexible body, the at least one second mirror facing the first mirror;
• a light source configured to emit light to the reflection space;
• and
• an imaging device provided on the inner bottom surface of the exterior portion, the imaging device being configured to capture an image including an imaging region in which light that passes through the light intake hole is seen and a force sense detection region in which reflection light of the light emitted from the light source to the reflection space is seen.