Method for sensing a rotation, optical sensing module and optical sensing device

Abstract

The invention relates to a method for sensing a rotation, comprising: - Emitting a light-beam towards a reflection body (6) in a first state, the reflection body (6) having a light reflection surface, in particular with a first surface region (8) and a second surface region (10), wherein the reflection surface is a non-rotation-symmetric surface regarding a rotation axis, - Reflecting the light-beam at the light reflection surface, in particular at the first surface region (8) and receiving the reflected light by at least one sensor (12) having a first intensity and / or first intensity distribution, - Applying a rotation to the reflection body (6) around the rotation axis, - Emitting another light-beam towards the reflection body (6), - Reflecting the light-beam at the light reflection surface, in particular at the second surface region (10) and receiving the reflected light by at least one sensor (12) having a second intensity and / or second intensity distribution, - Determining an induced rotation angle by the change in light intensity and / or change in intensity distribution. The invention further relates to a optical sensing module (2) and a optical sensing device.

Description

[0001] 2024PF01628 1

[0002] Method for sensing a rotation, Optical sensing module and Optical Sensing Device

[0003] DESCRIPTION

[0004] TECHNICAL FIELD

[0005] The invention concerns a method for sensing a rotation and in particular a torque application, optical sensing module for sensing a rotation and / or a torque and optical sensing device comprising such a module .

[0006] BACKGROUND

[0007] According to the state of the art, a rotation and in particular a torque is measured, for example, via a torsion spring and extensometers . Furthermore, torque measurement based on the change of magnetic fields are known.

[0008] Further according to the present art, touch-sensitive sensor devices for sensing a position, for example a touch slider sensor device, is operated by sliding / moving an obj ect over a surface of the sensor . A typical conventional touch slider sensor device is based on capacitive touch sensing. A capacitive touch slider sensor device usually comprises an array of a plurality of plates, foils, elements or metallic meshes, each of these forms a capacitor and needs to be sensed individually to detect an obj ect swipe over the array. When an obj ect comes in contact with one of the capacitive plates, the capacitance of that plate changes . The change of capacitance can be evaluated by a controller which converts the measured capacitances of all cells into a position of the touching obj ect on the capacitive sensor elements .

[0009] Furthermore, WO 2024213380 discloses a touch-sensitive sensor device for sensing a position of an obj ect touch comprising: a housing having a ceiling, a first distance sensor and a second distance sensor being arranged spaced apart from each other in the housing, a light-reflective surface being2024PF01628 2

[0010] arranged spaced apart from the first and second distance sensor, a processing circuit being configured for determining the position of the obj ect touch on the ceiling by evaluating a detected first distance variation between the first distance sensor and the light-reflective surface caused by the obj ect touch, and a detected second distance variation between the second distance sensor and the light-reflective surface caused by the obj ect touch, wherein the detected first distance variation is based on a measurement of the first distance sensor and the detected second distance variation is based on a measurement of the second distance sensor .

[0011] However, there is also a need for measurement of a rotation and in part a torque with a good reliability even in environments, where electromagnetic interference may encounter a measurement module .

[0012] SUMMARY

[0013] In accordance with an aspect of the invention a method for sensing a rotation is provided, the method comprising:

[0014] - Emitting a light-beam towards a reflection body in a first state, the reflection body having a light reflection surface, in particular with a first surface region and a second surface region, wherein the reflection surface is a non-rotation-symmetric surface regarding a rotation axis,

[0015] - Reflecting the light-beam at the light reflection surface, in particular at the first surface region, and receiving the reflected light by at least one sensor having a first intensity and / or first intensity distribution,

[0016] - Applying a rotation to the reflection body around the rotation axis to transfer the reflection body from the first state into a second state,

[0017] - Emitting another light-beam towards the reflection body in the second state, and2024PF01628 3

[0018] - Reflecting the other light-beam at the light reflection surface, in particular at the second surface region and receiving the reflected light by at least one sensor having a second intensity and / or second intensity distribution,

[0019] - Determining an induced rotation angle by the change in light intensity and / or change in intensity distribution.

[0020] In accordance with the method the rotation of the rotation body around the rotation axis transfers the rotation body from a first state into a second state . In particular, in the first state, light is emitted onto a first surface region of the reflection body and reflected towards a sensor, wherein emitter and sensor have a predetermined arrangement . In particular, in the second state, light is emitted onto a second surface region of the reflection body and reflected towards a sensor, wherein emitter and sensor have a predetermined arrangement . In particular, the same emitter and the same sensor are used for the measurement in the first state and the measurement in the second state of the reflection body and remain in a fixed position. The first and second surface region may overlap . These surface regions are determined by the optical path of light from emitter to reflection area and further to sensor .

[0021] The rotation is in particular a rotation around the rotation axis T .

[0022] The emission of the light might be a triggered emission of light, a emission of light for a certain period at predetermined time intervals or a continuous emission of light . In the later case, the rotation of the reflection body, the light emission and sensing of the reflected light are at the same time, and the rotation is detected by the change of intensity resp . intensity distribution of the reflected light on the sensor .

[0023] In accordance with an aspect of the invention a method for sensing a torque application is provided, the method comprising :2024PF01628 4

[0024] - Emitting a light-beam towards a reflection body in a first state, the reflection body having a light reflection surface, in particular with a first surface region and a second surface region, wherein the reflection surface is a non-rotation-symmetric surface regarding a rotation axis,

[0025] - Reflecting the other light-beam at the light reflection surface, in particular at the first surface region and receiving the reflected light by at least one sensor having a first intensity and / or first intensity distribution,

[0026] - Applying a rotation to the reflection body around the rotation axis,

[0027] - Emitting another light-beam towards the reflection body, - Reflecting the light-beam at the light reflection surface, in particular at the second surface region and receiving the reflected light by at least one sensor having a second intensity and / or second intensity distribution,

[0028] - Determining an induced rotation angle by the change in light intensity and / or change in intensity distribution, - wherein the reflection body is connected to the a light emitter and / or sensor by an elastic means having a predetermined elastic resistance against the rotation of the reflection body with regard to the emitter and / or sensor,

[0029] - further comprising

[0030] - determining a torque based on the elastic resistance and the induced rotation angle with regard to the emitter and / or sensor .

[0031] As described above the emission and detection of the light might be triggered, periodically or continuously. The method for determining a torque thus distinguishes from the method for determining a rotation by the provision of the elastic means having an elastic module, which allows to determine the2024PF01628 5

[0032] torque depending on the rotation angle . According to an embodiment, the method further comprises a calibration step .

[0033] The torque applied to the reflection body induces a rotation around a rotation axis (T-axis) , which might extend in particular along the z-direction. In particular, the reflection body has a torque and / or force application surface, which is different from both, the first surface region and the second surface region. The torque and / or force application surface of the reflection body faces in particular away from the emitter and faces away from the sensor (s) . The torque and / or force application surface might be perpendicular to the z-direction, i . e . the normal of the application surface being parallel with the z-direction. Thus torque and / or force application surface extends in an x-y-plane if the reflection body is in an unrotated and untilted state, thus in a first state .

[0034] The first surface region and the second surface region might have their surface normal perpendicular to the z-direction or oriented at an angle with the z-direction. However, neither the first surface region nor the second surface region have their surface normal perpendicular to the z-direction.

[0035] In the first state, thus non-rotated state of the reflection body, the first surface region is placed in the light path from the emitter to the sensor and therefore in reflection condition. When the reflection body is rotated, the first surface region is moved out of this reflection condition, at least partially, and the second surface region is moved in reflection condition.

[0036] In one embodiment, the T-axis might be at an angle a with the z-direction. The angle a might be in particular below the 20° , more particular below 10° . Alternatively, the T-axis might be parallel to the z direction.

[0037] The emitter might be configured as a light-emitting diode (LED) or a laser diode . The sensor might be configured as a photodiode or comprising an array of photodiodes . The sensor2024PF01628 6

[0038] is in particular sensitive to the light intensity received on the sensor .

[0039] In one embodiment, emitter and sensor are arranged in a plane, in particular x-y-plane, perpendicular to the z-direction and spaced apart from the reflection body. In particular, emitter and sensor are arranged on a common chip . In particular, the reflection body is arranged such that the torque and / or force application surface of the reflection body is further apart from the plane of the emitter and the sensor than the rest of the reflection body.

[0040] According to an embodiment, at least two sensors are provided, in particular at least three sensors, in particular at least four sensors . In particular the at least three sensors are arranged in a non-linear manner with the light emitter . If at least two sensors are provided they are as well referred to as a set of sensors . The set of sensors might be arranged on a circle around the z-direction, in particular spaced in an equidistant manner in a circumferential direction. The set of sensors might be arranged in the same plane perpendicular to the z-direction. In particular the set of sensors and the at least one lightemitter are arranged on a common chip or circuit board

[0041] According to an embodiment, the reflection body is a polyhedron having a set of polyhedron surfaces, wherein in particular the first surface region and the second surface region are provided on the same polyhedron surface or on different polyhedron surfaces, in particular wherein the polyhedron is a pyramid. The polyhedron surfaces are in particular flat surfaces .

[0042] Alternatively, the reflection body has a single curved surface provided as light reflection surface, comprising the first surface region and the second surface region, wherein in particular the curved surface has a spiral shape or a screw shape .2024PF01628 7

[0043] According to an embodiment, the method further comprises determining a tilt and / or a force, in particular linear displacement force . Tilt is in particular a tilt around a tilt axis perpendicular to the rotation axis .

[0044] In accordance with an aspect of the invention an optical sensing module is provided. The optical sensing module comprises

[0045] At least one light-emitter,

[0046] a light reflection body for emitting a light-beam towards a reflection body,

[0047] the reflection body having a light reflection surface, in particular with a first surface region and a second surface region,

[0048] wherein the reflection surface is a non-rotation-symmetric surface regarding the rotation axis,

[0049] at least one sensor for detecting light reflected by the light reflection surface,

[0050] wherein the light-emitter, the reflection body and the sensor are arranged in such a way, that a rotation around the rotation axis of the reflection body induces a change in the distribution of the reflected light .

[0051] Such an optical sensing module is in particular not sensitive to magnetic fields . Furthermore, the module is cost efficient . The optical sensing module is supposed to be used in conditions, without interference from ambient light .

[0052] The emitter and the sensor are in particular in a fixed position relationship to each other, wherein the reflection body is arranged in the module in such a way to allow a rotation around the rotation axis T . In particular, the module is provided with an x-y-plane, in which the emitter and the sensor are arranged facing the reflection body arranged in a distance along a z-direction from the plane or the emitter and the sensor . The z-direction is perpendicular to the x-y-plane . The rotation axis T might be parallel to the z-direction.2024PF01628 8

[0053] The first and second surface region may overlap . These surface regions are determined by the optical path of light from emitter to reflection area and further to sensor . Thus, the first and second surface region may be part of one flat and thus have the same orientation with respect to the reflection body. Alternatively, the first and second surface region are regions of the reflection surface which have different orientations with respect to the reflection body.

[0054] In particular, the reflection body has a torque and / or force application surface, which faces in particular away from the emitter and faces away from the sensor (s) . The torque and / or force application surface might be perpendicular to the z-direction, thus extending in an x-y-plane .

[0055] The first surface region and the second surface region might have a surface normal perpendicular to the z-direction or oriented at an angle with the z-direction. However, neither the first surface region nor the second surface region are perpendicular to the z-direction. Thus, seen from the light emitter and from the sensor the first surface region changes its orientation, when torque is applied on the reflection body, in particular inducing a rotation around the z-direction, and seen from the light emitter and from the sensor the second surface region changes its orientation, when torque is applied on the reflection body, in particular inducing a rotation around the z-direction. In the first state, thus non-rotated state of the reflection body, the first surface region is placed in the light path form the emitter to the sensor and therefore in reflection condition. When the reflection body is rotated, the first surface region is moved out of this reflection condition, at least partially, and the second surface region is moved in reflection condition.

[0056] In one embodiment, the T-axis might be at an angle a with the z-direction. The angle a might be in particular below the2024PF01628 9

[0057] 20° , more particular below 10° or the T-axis is parallel to the z-direction.

[0058] The emitter might be configured as a light-emitting diode (LED) or a laser diode . The emission range might be in the visible or IR range, in an advantage embodiment . The sensor might be configured as a photodiode or comprising an array of photodiodes . The sensor is in particular sensitive to the light intensity received on the sensor .

[0059] In one embodiment, emitter and sensor are arranged in an x-y-plane perpendicular to the z-direction and spaced apart from the reflection body.

[0060] According to an embodiment, the module comprises two light emitters, in particular exactly two light emitters . In the case of more than one emitter, the emitters might have the same or different spectral ranges . According to an embodiment the emitter is an emitter of visible light or IR light . In particular the emitter emits light with a broad range of wavelength or a single wavelength.

[0061] According to an embodiment, the reflection body is a polyhedron having a set of polyhedron surfaces, wherein in particular the first surface region and the second surface region are provided on the same polyhedron surface or on different polyhedron surfaces, in particular wherein the polyhedron is a pyramid, or

[0062] Wherein the reflection body has a single curved surface provided as light reflection surface, comprising the first surface region and the second surface region, wherein in particular the curved surface has a spiral shape or a screw shape .

[0063] According to an embodiment, the module comprises at least two sensors, in particular at least three sensors, in particular at least four sensors, preferably the at least three sensors being arranged in a non-linear manner with a light emitter . The sensors may be provided within a single plane, in2024PF01628 10

[0064] particular they are arranged on a common semiconductor chip or circuit board.

[0065] According to an embodiment, four sensors are provided, arranged in a cross-shape, wherein the at least one light emitter, in particular a set of two light emitters, is arranged in the center of the cross . Such an arrangement is in particular suitable for additionally determining tilt and / or a force, in particular in a z-direction. Additionally or alternatively the at least one sensor, in particular the set of sensors, and the at least one light-emitter is arranged on a common chip .

[0066] According to an embodiment, the reflection body and the emitter and / or the sensor are connected to by an elastic means having a predetermined elasticity, wherein the optical sensing module is in particular configured as a torque sensing module .

[0067] In particular, the module further comprises a light transparent or translucent flexible bulk material, wherein the emitters, the reflection body and the sensors are embedded in the bulk material, wherein the bulk material is in particular a polymeric material . Th bulk material is in particular provided as elastic means In such an embodiment, the emitted beam and / or reflected beam travels only through the bulk material . The bulk material enhances the stability of the module .

[0068] According to an embodiment, the optical sensing module is encased in a non-transparent enclosure . Such an enclosure has the advantage that the module is isolated from ambient light . Such an enclosure enhances the precision of the light intensity detection. In particular, the enclosure might be directly connected to the reflection body, in particular, to the torque and / or force application surface of the reflection body, such that the enclosure has a surface dedicated to the application of torque and / or force . Furthermore the enclosure2024PF01628 11

[0069] might be configured as casing which is at least partially elastic for acting as elastic means .

[0070] According to an embodiment, the module is further configured for determining a force or a tilt applied on a surface .

[0071] According to an embodiment, the reflection surface is reflective to the complete range of wavelength or the emitter or only part of it . According to an embodiment the reflection body might be provided with a first reflection surface reflecting light with a first range of wavelengths and transmitting light with a second range of wavelengths different from the first range of wavelengths and a second reflection surface reflecting light with a second range of wavelengths .

[0072] According to an aspect of the invention an optical sensing device comprises the optical sensing module as described above . The optical sensing device might be configured as torque sensing device comprising a torque sensing module . In particular, such a torque sensing device has a torque application surface which is in particular perpendicular to the z-direction.

[0073] In particular the module and / or the device is provided with a read-out circuit and / or a power supply and / or a control unit and / or a calculation unit and / or comparison unit, dedicated to determine a rotation, in particular to calculate a torque and optionally a force or tilt . Alternatively, the module and / or the device might be provided with ports for connecting at least one of a read-out circuit, a power supply, a control unit and a calculation unit .

[0074] Such a module or device might in particular be used in an automotive context like steering wheel, drive train, brake systems, different toolings, e-bike applications, robot application as well as different others known to the person skilled in the art .2024PF01628 12

[0075] Any detail discussed with the method can apply to the module or the device and vice versa . In particular, the method can be performed with the module and / or device .

[0076] These and other features, embodiments, obj ectives, and advantages of the invention will become apparent from the subsequent description.

[0077] BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Exemplary embodiments of the invention are discussed below with reference to the accompanying drawings

[0079] FIG. 1 shows a flow chart of the method,

[0080] FIG. 2 shows a module in a first embodiment as side-view,

[0081] FIG. 3 shows the module of FIG. 2 as top view,

[0082] FIG. 4 shows the module in a second embodiment as topview,

[0083] FIG. 5 shows the module in a third embodiment as top-view,

[0084] FIG. 6 shows an embodiment of the light reflection body, and

[0085] FIG. 7 shows an alternative embodiment of the light reflection body.

[0086] DETAILED DESCRIPTION

[0087] FIG. 1 shows a flow chart of the sensing method. The method can be performed with a module as depicted in FIG. 2 and FIG. 3. A light-beam is emitted towards a reflection body 6 (Step S101 ) . FIG. 2 shows a light emitter 4 that emits a light beam. The emitted light beam 30 travels towards the2024PF01628 13

[0088] reflection body 6, having a reflection surface with a first surface region 8 and a second surface region 10. In the depicted example, the reflection body is provided as a polyhedron, in particular a pyramid as depicted in FIG. 6. In such a case, the first surface region 8 is located on a first pyramid surface with a first orientation. The second surface region 10 is shown here on a second pyramid surface with a second orientation. However, it could be placed as well on the first pyramid surface for a small rotation angle of the reflection body 6 around the z-direction as T-axis in the depicted case .

[0089] Alternatively, such a reflection body might be provided with a screw surface as depicted in FIG. 7 or with a different form non-symmetric to the z-direction, such that the orientation of the first surface region and the second orientation of the second surface region are changed, when a torque is applied to the reflection body 6. In the case of the screw axis, the first surface region 8 and the second surface region 10 are placed on the helical surface apart from each other .

[0090] The emitted light beam 30 is reflected on the reflection surface of reflection body 6 towards at least one sensor 12 (Step S102 ) . The reflected beam 32 travels towards the at least one sensor 12, where the reflected light is received (Step S103) . In 2, the module is in the first state and the reflection takes place in the first surface region 6. After rotation to the second state, a rotation takes place in the second surface region. Depending on the rotation of the reflection body 6 the light intensity received on the sensor 12 changes . Thus, in particular light beams are emitted and received periodically or continuously and a change in intensity resp . intensity distribution is determined by comparison with the previous detected intensities and / or intensity distributions . In particular, as depicted in FIG. 2 and FIG. 3 the emitter 6 an the sensor 12 might be arranged on a common chip 20. In the embodiment shown in FIG. 2 the space between the emitter 4, the sensor 12 and the reflection2024PF01628 14

[0091] body 6 is filled with a bulk material 18 such that the emitted beam 30 and the reflected beam 32 travels through the bulk material 18. This bulk material 18 is an elastic means having a certain elasticity and thus an elastic resistance against the rotation of the reflection body 6. After calibration or at least knowing the elasticity, a torque can be calculated by the rotation angle and the elasticity of the bulk material 18 resp . the elastic resistance against rotation of the reflection body in the module (Step S105) . In particular the bulk material is transparent and might comprise or consist of a polymer .

[0092] The module might be encased by an enclosure 22, which is in particular non-transparent and which is adapted to protect the module from ambient light . The enclosure or the reflection body itself might be provided with a surface dedicated to the torque and / or force application surface 24, adj acent to the reflection body 6. This torque and / or force application surface 24 is provided as well in the x-y-plane but spaced apart from the plan, in which the emitter and the sensor are arranged.

[0093] FIG. 4 shows an alternative embodiment in a top view. In this embodiment, the module is provided with four sensors 12 constituting a set of sensors 14. The set of sensors 14 is arranged in a cross-shape . In the center of the cross-shape, two emitters 4 are arranged. The further alternative embodiment shown in FIG. 5 is similar to the one of FIG. 4 but is provided with a single central emitter 4. Both embodiments allow additionally to detect not only a torque application but also a force in the z-direction, perpendicular to the cross-shape and a tilt .2024PF01628 15

[0094] LIST OF REFERENCE SIGNS

[0095] optical sensing module 2 Light emitter 4 Light reflection body 6 First surface region 8 Second surface region 10 Sensor 12 Set of sensors 14 Bulk material 18 chip 20 enclosure 22 torque application surface 24

[0096] Emitted beam 30 Reflected beam 32

Claims

2024PF01628 16CLAIMS1. Method for sensing a rotation, comprising:- Emitting a light-beam towards a reflection body ( 6) in a first state, the reflection body ( 6) having a light reflection surface, in particular with a first surface region ( 8 ) and a second surface region ( 10) , wherein the reflection surface is a non-rotation-symmetric surface regarding a rotation axis,- Reflecting the light-beam at the light reflection surface, in particular the first surface region ( 8 ) , and receiving the reflected light by at least one sensor (12 ) having a first intensity and / or first intensity distribution,- Applying a rotation to the reflection body ( 6) around the rotation axis to transfer the reflection body ( 6) from the first state into a second state,- Emitting another light-beam towards the reflection body ( 6) in the second state and- Reflecting the other light-beam at the light reflection surface, in particular the second surface region ( 10) , and receiving the reflected light by at least one sensor (12 ) having a second intensity and / or second intensity distribution,- Determining an induced rotation angle by the change in light intensity and / or change in intensity distribution.

2. Method for sensing a torque application, comprising: the method for sensing a rotation according to claim 1,wherein the reflection body ( 6) is connected directly or indirectly to the light emitter (4 ) and / or sensor ( 12 ) by an elastic means having a predetermined elastic resistance against the rotation of the reflection body ( 6) with regard to the emitter (4 ) and / or sensor ( 12 ) ,further comprising2024PF01628 17determining a torque based on the elastic resistance and the induced rotation angle with regard to the emitter ( 4 ) and / or sensor ( 12 ) .3 . Method according to claim 1 or 2 , further comprising Receiving the reflected light beam with at least two sensors ( 12 ) , in particular at least three sensors ( 12 ) , more particular at least four sensors ( 12 ) , wherein in particular the at least three sensors ( 12 ) are arranged in a non-linear manner with the light emitter ( 4 ) .4 . Method according to any of claims 1 to 3 , wherein the reflection body ( 6 ) is a polyhedron having a set of polyhedron surfaces , wherein in particular the first surface region ( 8 ) and the second surface region ( 10 ) are provided on the same polyhedron surface or on di f ferent polyhedron surfaces , in particular wherein the polyhedron is a pyramid, orwherein the reflection body ( 6 ) has a single curved surface provided as light reflection surface , comprising the first surface region ( 8 ) and the second surface region ( 10 ) , wherein in particular the curved surface has a spiral shape or a screw shape .

5. Method according to any of claims 1 to 4 , the method further comprising determining a tilt and / or a linear force .

6. Optical sensing module ( 2 ) comprising :- At least one light-emitter ( 4 ) ,- a light reflection body ( 6 ) , for emitting a light-beam towards a reflection body ( 6 ) ,- the reflection body ( 6 ) having a light reflection surface , in particular with a first surface region ( 8 ) and a second surface region ( 10 ) , wherein the reflection surface is a non-rotation-symmetric surface regarding a rotation axis ,- at least one sensor ( 12 ) for detecting light reflected by the light reflection surface , wherein the lightemitter ( 4 ) , the reflection body ( 6 ) and the sensor ( 12 )2024PF01628 18are arranged in such a way, that a rotation around the rotation axis of the reflection body ( 6 ) induces a change in the light intensity and / or light intensity distribution of the reflected light .7 . Optical sensing module ( 2 ) according to claim 6 , wherein the module comprises two light emitters ( 4 ) , in particular exactly two light emitters ( 4 ) .8 . Optical sensing module ( 2 ) according to claim 6 or 7 , wherein the reflection body ( 6 ) is a polyhedron having a set of polyhedron surfaces , wherein in particular the first surface region ( 8 ) and the second surface region ( 10 ) are provided on the same polyhedron surface or on di f ferent polyhedron surfaces , in particular wherein the polyhedron is a pyramid, orwherein the reflection body ( 6 ) has a single curved surface provided as light reflection surface , comprising the first surface region ( 8 ) and the second surface region ( 10 ) , wherein in particular the curved surface has a spiral shape or a screw shape .

9. Optical sensing module ( 2 ) according to one of claims 6 to 8 , comprising at least two sensors ( 12 ) , in particular at least three sensors ( 12 ) or at least four sensors ( 12 ) , wherein in particular the at least three sensors ( 12 ) are arranged in a non-linear manner with the light emitter ( 4 ) .10 . Optical sensing module ( 2 ) according to claim 9 , wherein the at least three sensors ( 12 ) are arranged on a circle around the emitter ( 4 ) , and / or wherein the at least four sensors ( 12 ) are arranged in a cross-shape , wherein the at least one light emitter ( 4 ) , in particular a set of two light emitters ( 4 ) , is arranged in the center of the cross , and / or wherein the at least one sensor ( 12 ) and the at least one light-emitter ( 4 ) is arranged on a common chip ( 20 ) .11 . Optical sensing module ( 2 ) according to any of claims 6 to 10 , wherein the reflection body ( 6 ) and the emitter ( 4 )2024PF01628 19and / or the sensor ( 12 ) are connected to by an elastic means having a predetermined elasticity, wherein the optical sensing module (2 ) is in particular configured as a torque sensing module,in particular wherein the elastic means is a light transparent or translucent flexible bulk material ( 18 ) , wherein the emitter (4 ) , the reflection body ( 6) and the sensor ( 12 ) are embedded in the bulk material ( 18 ) , wherein the bulk material ( 18 ) is in particular a polymeric material .

12. Optical sensing module (2 ) according to any of claims 6 to 11, wherein the module is encased in a non-transparent enclosure ( 22 ) .

13. Optical sensing module (2 ) according to any of claims 6 to 12, further configured for determining a force, in particular linear force, or a tilt applied on a surface .

14. Optical sensing module (2 ) according to any of claims 6 to 13, wherein the emitter (4 ) is an emitter of visible light or IR light, wherein in particular the emitter emits light with a broad range of wavelength or a single wavelength, and / orwherein the reflection surface is reflective to the complete range of wavelength of the emitter or only part of it .

15. Optical sensing device ( 1 ) comprising an optical sensing module (2 ) according to any of claims 6 to 14.

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