Force/torque sensing of Verb's robot
A recent patent of Verb Surgical (US20180080841A1 Multi-degree of freedom sensor) reveals much of the details of their new robotic system. It is equiped with a capacitive forct/torgque sensor for smooth manual control, and also designed with an RCM mechanism.
"A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing."