Force/torque sensor device for a force/torque sensor means as well as force/torque sensor means

Force/torque sensor means for a robotic entity, in particular a robot arm or a robot joint, comprising:

• a sensor device including two coaxially arranged flanges connected to each other via four of mechanical transmission structures, wherein in each transmission structure a single deformable radial-beam firmly connects the inner flange to the outer flange,
• wherein only on a front facing and only on a rear facing of the sensor device, measurement transducers, in particular strain-gages, are affixed at the four radial-beams of the four transmission structures.

Robotic entity comprising:

• a housing holding at least one of a force/torque sensor device or a force/torque sensor means;
• the force/torque sensor device including two coaxially arranged flanges connected to each other via a plurality of mechanical transmission structures of the sensor device, wherein in each transmission structure a single deformable radial-beam firmly connects the inner flange to the outer flange, wherein the radial-beam of each transmission structure is firmly connected to a decoupling-beam of the inner flange, wherein a radially outer circumferential portion of the inner flange constitutes this inner decoupling-beam in the inner flange,
• the force/torque sensor means including a sensor device including two coaxially arranged flanges connected to each other via four of mechanical transmission structures, wherein in each transmission structure a single deformable radial-beam firmly connects the inner flange to the outer flange, wherein only on a front facing and only on a rear facing of the sensor device, measurement transducers, in particular strain-gages, are affixed at the four radial-beams of the four transmission structures.