Multiple degree of freedom force sensor

A method for determining one or more forces and/or torques applied to a portion of a robot, the method comprising:

• sensing, by a plurality of single-axis load cells including first, second, and third single-axis load cells oriented along a first axis and disposed between a first plate and a second plate, forces applied to the portion of the robot, wherein the first and second plates are constrained by a plurality of constraint joints disposed between the first plate and the second plate, wherein the plurality of constraint joints are configured to inhibit relative translation between the first and second plates in directions perpendicular to the first axis and are configured to inhibit relative rotation between the first and second plates about the first axis;
• determining forces along the first axis based on the sensed output of the plurality of single-axis load cells;
• and
• adjusting an operation of the robot based, at least in part, on the determined forces.

A robot comprising:

• at least one movable limb;
• and
• a load sensor coupled to the at least one movable limb, wherein the load sensor comprises:
• a first plate and a second plate;
• a plurality of single-axis load cells including first, second, and third single-axis load cells, wherein each of the first, second, and third single-axis load cells is disposed between the first plate and the second plate and is oriented along a first axis;
• and
• a plurality of constraint joints coupled to the first plate and the second plate, the plurality of constraint joints configured to inhibit translation of the first plate relative to the second plate in directions perpendicular to the first axis and configured to inhibit rotation of the first plate relative to the second plate about the first axis.