Tangential force sensor for a brake caliper

A system for a vehicle comprising:

• a first wheel apparatus and a second wheel apparatus, each of the first and second wheel apparatuses including;
• a caliper configured to house a brake pad adjacent to a rotor;
• and
• a sensor separate from the brake pad, the sensor configured to be positioned between the caliper and the brake pad and configured to output signals representing measurements of force applied to the caliper by the brake pad when the brake pad contacts the rotor.

A method comprising:

• outputting, by a first sensor, signals representing measurements of a force applied to a caliper, the caliper contained within a first wheel apparatus having a rotor and a brake pad, the first sensor separate from the brake pad, and the force being generated when the brake pad contacts the rotor;
• receiving, by a processor, the output signals from the first sensor;
• and
• determining, by the processor, a first brake force based on the output signals.