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Force sensing apparatus

  • US 4,635,479 A
  • Filed: 01/15/1986
  • Issued: 01/13/1987
  • Est. Priority Date: 08/29/1984
  • Status: Expired due to Fees
First Claim
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1. Force sensing apparatus for determining the location, magnitude and direction of a force exerted through a point contact on a three dimensional surface comprising:

  • a movable member having a convex surface of known configuration,a pedestal,a cross having flexible arms fixed to the pedestal,a flexible force transmitting member surrounding and attached to each arm, limited portions of the force transmitting member being attached to the movable member, the remainder of the force transmitting member being spaced from the movable member,at least one strain gauges secured to each arm of the cross whereby a force applied to the convex surface through a point contact and the resultant moments of that force are transmitted through the flexible force transmitting member to the flexible arms resulting in strain measurable by the gauges.

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