Magnetic-based force/torque sensor

A force-sensitive transducer element as claimed in claim 1, 2 or 18 in which said angle is substantially 45°.

A force-sensitive transducer element as claimed in claim 1, 2, 3 or 18 in which said structure comprises two bodies the respective magnetised regions of which are at an angle to respective axes perpendicular to said force-transmitting direction, and said respective axes are at an angle to one another.

A force-sensitive transducer element as claimed in claim 1, 2, 3 or 18 in which said structure comprises three bodies, the respective magnetised regions of which are at an angle to respective axes perpendicular to said force-transmitting direction, and wherein two of said respective axes are orthogonal and the third of said respective axes is at an angle to the other two of said respective axes.

A force-sensitive transducer element as claimed in any preceding claim in which said magnetised region or regions are magnetised to saturation.

A force-sensitive transducer element comprising

• a structure having a pair of opposite surfaces for receiving a force to be applied to the structure and defining a force-transmitting direction through the structure,
• said structure comprising a body of magnetic material, at least one pair of coils spaced apart in said force-transmitting direction and spaced apart laterally with respect to said force-transmitting direction to define between the coils of said pair a magnetic path through said magnetic material that is at an angle to said force-transmitting direction.

A force-sensitive transducer element comprising

• a structure having a pair of opposite surfaces for receiving a force to be applied to the structure and defining a force-transmitting direction through the structure,
• said structure comprising at least one body of magnetic material, the or each body having at least one magnetised region therein extending at an angle, to said force-transmitting direction.

A torque-sensitive transducer arrangement comprising

• a member mounted to be subject to torque about an axis,
• a torque-sensitive transducer element integral with or secured to said member to have a stress induced therein in proportion to the torque in the member,
• said element comprising a body of magnetic material having at least one magnetised region therein extending at an angle to the direction of the induced stress, and a magnetic field detector device for providing an output signal representing the induced strain.