Abstract: A force and torque converter is provided which provides an electronic representation of a planarly applied force and a torque applied about an axis that is orthogonal to the plane. The converter includes a base, an actuating member which is relatively displaced in response to the applied torque and force, resilient mechanisms to provide a restoring force and torque to the actuating member, and sensing mechanisms to sense the applied torque and force and generate an electronic representation thereof. The electronic representation is characterized by a sensitivity curve in which relatively small applied forces and torques result in a relatively low scale factor and where for a range of small applied forces and torques the relation of scale factor with respect to applied torque and force has a relatively low derivative. Further, for a range of larger applied forces and torques, the sensitivity curve has a relatively large scale factor and a relatively large derivative.

Abstract: A force and torque converter is provided that senses force and torque applied to the device. The converter includes a base, a grip, resilient connection members that extend radially and coplanarly from a central hub, located within the grip, and that connect to the grip, and sensing mechanisms to sense the displacement of the connection members. The displacements are resolved to determine the force and torque that is applied to the device, with respect to a Cartesian coordinate system.

Abstract: A force and torque converter provides command signals representative of a translational applied force and an applied torque extending about an axis substantially perpendicular to the axis along which the translational force is applied. The apparatus comprises a body to which the force and torque are applied, first and second connecting means attached to the body, means for biasing the connecting means to a central position and sensor means comprising two sensor devices arranged to detect a displacement force in each of the first and second connecting means respectively and which respond to the applied translation force and also respond to the torque to resolve the torque into a force comprising two components. A very important embodiment of the invention is arranged to operate in three dimensions and to resolve any applied torque into a respective components related to three mutually perpendicular axes.

Abstract: A force and torque converter provides command signals representative of a translational applied force and an applied torque extending about an axis substantially perpendicular to the axis along which the translational force is applied. The apparatus comprises of body to which the force and torque are applied, first and second connecting means attached to the body, means for biasing the connecting means to a central position and sensor means comprising two sensor devices arranged to detect a displacement force in each of the first and second connecting means respectively and which respond to the applied translation force and also respond to the torque to resolve the torque into a force comprising two components. A very important embodiment of the invention is arranged to operate in three dimensions and to resolve any applied torque into a respective components related to three mutually perpendicular axes.