Patent ID: 9671298
Date: 2017-06-06
CPC Classifications: A61B,B25J,G01B,G01L,Y10S

Claim:
1. A force sensor, comprising: a light-emitting unit that emits diffuse light; a pair of first light detectors that are arranged facing in a first direction with the light-emitting unit interposed between the first light detectors; a reflector that is arranged to face the light-emitting unit on an optical axis of the light-emitting unit, the reflector reflecting the diffuse light emitted from the light-emitting unit toward the pair of first light detectors; a first frame that is deformed in the first direction so that a reflection range of the diffuse light reflected by the reflector mounted on the first frame is displaced in the first direction; a pair of second light detectors that are arranged in a second direction perpendicular to the first direction with the light-emitting unit interposed therebetween; and a second frame that is deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction, wherein the first frame includes: the second frame includes: the reflector is provided, on the second opposed surface, in the area including the position intersecting with the optical axis of the light-emitting unit.