Force sensor having contact member and annular force sensing device including the same

An annular force sensing device, comprising:

• an ring;
• and
• at least one force sensor arranged on an inner surface of the ring, wherein
• each of the at least one force sensor comprises:
• a bearing member comprising a multi-sided recess;
• a restraint member with a through hole and coupled to the bearing member;
• a contact member disposed in the multi-sided recess, wherein the contact member contacts a plurality of bearing surfaces of the multi-sided recess and has an exposed portion protruding from the through hole;
• and
• a plurality of sensing members disposed on the plurality of bearing surfaces or disposed within the bearing member, wherein the plurality of sensing members correspond to the plurality of bearing surfaces, and each of the plurality of sensing members has a sensing direction perpendicular to a corresponding one of the plurality of bearing surfaces.

A force sensor, comprising:

• a bearing member comprising a plurality of bearing surfaces;
• a plurality of sensing members respectively disposed on the plurality of bearing surfaces or disposed within the bearing member, wherein the plurality of sensing members correspond to the plurality of bearing surfaces, and each of the plurality of sensing members has a sensing direction perpendicular to a corresponding one of the plurality of bearing surfaces;
• and
• a contact member comprising a plurality of contact portions configured for point or line contact with the plurality of bearing surfaces of the bearing member;
• and a force applying portion configured for contacting with a measured object.