Abstract: A remote center compliance device having an operator member and a remote compliance center near the end of the operator member, including one or more displacement sensors proximate the operator member for sensing displacement in one or more degrees of freedom of the operator member.

Abstract: A member having an axis to be positioned in an opening whose axis may be displaced from the member axis is connected by three rods, wires or wire ropes equally spaced about the axis secured to a supporting plate and having a first portion generally perpendicular to the plate and a second portion extending downwardly from the first portion with the lower end closer to the member axis than the upper end with the first portions allowing translation of the member and the second portion allowing rotation of the member to enable the member to be aligned in the opening as the upper support member moves downward toward the opening. The rods, wires or wire ropes may be separated by a spreader and reside within an elastic body with damping and be preloaded in tension or compression.

Abstract: A remote center compliance system including means for establishing rotational motion about a center remote from the means for establishing the rotational motion and in two directions transverse to radii from the remote center.

Abstract: A method for deriving the components of a load force applied to a force sensor, and a force sensor structure adapted for use with this method. A plurality of strain gauges are attached to the force sensing structure in such a manner that at least one strain gauge will provide an output indication of any force which may be applied to the sensor. By properly calibrating the sensor and processing the strain gauge outputs, the components of a load force applied to the sensor may be expressed in a Cartesian or other selected coordinate system without the need to provide for decoupling of the force components within the force sensor.