Simultaneous measuring of torque and force in all dimensions is extremely difficult.

The functionality of the torque and force sensor developed at the TU Berlin is based on the deformation of a sensitive arched structural element, which is equipped with strain gages. The momentum sensor has connected feedback levers, so that free space for elastic deformations is available as well as areas, in which the occurring elongations concentrate. If a momentum appears around the x- or y-axis, the feedback levers, that are oriented parallelly to the axis, raise at the tension-side and lower at the pressure-side. In addition to the strain gages on the feedback levers, there are further strain gages on their upper surfaces that will allow a separate measurement of the axial forces. With this improved design the sensor can measure the momentums around the x- and the y-axis and the axial force in the direction of the z-axis at the same time. A prototype of the novel sensor embodiment was built and implemented into an orthosis testing bench that has a frame size of 95 mm x 90 mm x 12.5 mm. It can measure momentums up to 500 Nm ± 5 Nm and axial forces up to 2000 N± 10 N.