Abstract: Force sensing apparatus for determining the location, magnitude and direction of a force on a three dimensional surface in which there is a convex surface (10-12) of known configuration mounted on a pedestal 22. A cruciform load cell (16) equipped with strain gauges (60-62) measures forces applied to the convex surface through the medium of a flexible force transmitter member (64).

Abstract: A segmented controller arm configured and dimensioned to form a miniature kinematic replica of a remotely related slave arm. The arm includes a plurality of joints for affording segments of the arm simultaneous angular displacement about a plurality of pairs of intersecting axes, a plurality of position sensing devices for providing electrical signals indicative of angular displacement imparted to corresponding segments of the controller shaft about the axes, and a control signal circuit for generating control signals to be transmitted to the slave arm. The arm is characterized by a plurality of yokes, each being supported for angular displacement about a pair of orthogonally related axes and counterbalanced against gravitation by a cantilevered mass affixed thereto whereby the controller arm may be released without introducing unwanted motion in the slave arm resulting from gravitation of segments of the master arm.