Force measurement

A force sensing device comprising:

• a plate;
• a sensor plate including:
• a first surface coupled to the plate;
• a second surface opposite the first surface;
• and
• an actuation structure coupled to the second surface and extending away from the second surface of the sensor plate;
• and
• a sensor aligned with the sensor plate such that a first force applied to the plate causes the actuation structure to directly contact and apply a second force to the sensor.

A method to determine a force, the method comprising:

• obtaining sensor data from a plurality of sensors in response to a first force applied to a plate, the plate coupled to a plurality of sensor plates, each of the plurality of sensor plates including an actuation structure that directly contacts and applies a second force to one of the sensors in response to the first force being applied to the plate;
• determining a location on the plate receiving the first force based on the sensor data and the distribution of the sensors within the plate;
• and
• determining a magnitude of the first force based on the sensor data and the location of the first force applied to the plate.