Abstract: Methods and apparatus for controlling a remote device using a command glove system are disclosed. An apparatus for controlling a device is arranged to be at least partially supported on and operated by a human appendage. The apparatus is further arranged to transmit signals to and receive signals from the device, and includes a positioning assembly mounted on the human appendage. The positioning assembly is arranged to respond to motions of the human appendage, and also transmits position signals that are used to control the device. The apparatus includes a braking assembly which is arranged to resist motion of the positioning assembly, and responds to resistance signals received from the device. The apparatus also includes a sense effecting assembly which transforms haptic signals received from the device into sensations felt by the human appendage.

Abstract: A force sensor is disclosed in which strain is measured exclusively by shear strain gages mounted on L or T-shaped legs. Each such leg has at least two arms which are orthogonal to one another. That is, the arms of the L or T each have a lengthwise or longitudinal axis, and two of these longitudinal axes are oriented at approximately 90.degree. with respect to one another. Each leg also has at least two shear strain gages mounted on orthogonal arms to measure forces in orthogonal directions. Three or more of these L or T shaped legs are integrated in a generally cylindrical and hollow body defining the force sensor. The shear strain gage outputs from the arms of this structure are sent to a digital signal processor which determines the magnitude and direction of any force/moment applied to the cylindrical body. Further, the shear strain gages are mounted in pockets sized to hold the strain gages and provide increased sensitivity to shear strain.